The definition in the glossary for the FreeS/WAN Linux IPSEC project is:

A property of systems such as Diffie-Hellman key exchange which use a
long-term key (the shared secret in IKE) and generate short-term keys
as required. If an attacker who acquires the long-term key provably can 

    neither read previous messages which he may have archived 
    nor read future messages without performing additional
       successful attacks 

then the system has PFS. The attacker needs the short-term keys in
order to read the trafiic and merely having the long-term key does
not allow him to infer those. Of course, it may allow him to conduct
another attack (such as man-in-the-middle) which gives him some
short-term keys, but he does not automatically get them just by
acquiring the long-term key.

That glossary:

http://www.freeswan.org/freeswan_trees/freeswan-1.3/doc/glossary.html

has links to several others. Some, such as the NSA Glossary and
Ritter's, do not define the term.

The Internet Draft Security Glossary

http://www.ietf.org/internet-drafts/draft-shirey-security-glossary-02.txt 

has this text:

   $ public-key forward secrecy (PFS)
      (I) For a key agreement protocol based on asymmetric cryptography,
      the property that ensures that a session key derived from a set of
      long-term public and private keys will not be compromised if one
      of the private keys is compromised in the future.

      (C) Some existing RFCs use the term "perfect forward secrecy" but
      either do not define it or do not define it precisely. While
      preparing this Glossary, we tried to find a good definition for
      that term, but found this to be a muddled area. Experts did not
      agree. For all practical purposes, the literature defines "perfect
      forward secrecy" by stating the Diffie-Hellman algorithm. The term
      "public-key forward secrecy" (suggested by Hilarie Orman) and the
      "I" definition stated for it here were crafted to be compatible
      with current Internet documents, yet be narrow and leave room for
      improved terminology.

      (C) Challenge to the Internet security community: We need a
      taxonomy--a family of mutually exclusive and collectively
      exhaustive terms and definitions to cover the basic properties
      discussed here--for the full range of cryptographic algorithms and
      protocols used in Internet Standards:

      (C) Involvement of session keys vs. long-term keys: Experts
      disagree about the basic ideas involved.

       - One concept of "forward secrecy" is that, given observations of
      the operation of a key establishment protocol up to time t, and
      given some of the session keys derived from those protocol runs,
      you cannot derive unknown past session keys or future session
      keys.

       - A related property is that, given observations of the protocol
      and knowledge of the derived session keys, you cannot derive one
      or more of the long-term private keys.

       - The "I" definition presented above involves a third concept of
      "forward secrecy" that refers to the effect of the compromise of
      long-term keys.

       - All three concepts involve the idea that a compromise of "this"
      encryption key is not supposed to compromise the "next" one. There
      also is the idea that compromise of a single key will compromise
      only the data protected by the single key. In Internet literature,
      the focus has been on protection against decryption of back
      traffic in the event of a compromise of secret key material held
      by one or both parties to a communication.

      (C) Forward vs. backward: Experts are unhappy with the word
      "forward", because compromise of "this" encryption key also is not
      supposed to compromise the "previous" one, which is "backward"
      rather than forward. In S/KEY, if the key used at time t is
      compromised, then all keys used prior to that are compromised. If
      the "long-term" key (i.e., the base of the hashing scheme) is
      compromised, then all keys past and future are compromised; thus,
      you could say that S/KEY has neither forward nor backward secrecy.

      (C) Asymmetric cryptography vs. symmetric: Experts disagree about
      forward secrecy in the context of symmetric cryptographic systems.
      In the absence of asymmetric cryptography, compromise of any long-
      term key seems to compromise any session key derived from the
      long-term key. For example, Kerberos isn't forward secret, because
      compromising a client's password (thus compromising the key shared
      by the client and the authentication server) compromises future
      session keys shared by the client and the ticket-granting server.

      (C) Ordinary forward secrecy vs. "perfect" forward secret: Experts
      disagree about the difference between these two. Some say there is
      no difference, and some say that the initial naming was
      unfortunate and suggest dropping the word "perfect". Some suggest
      using "forward secrecy" for the case where one long-term private
      key is compromised, and adding "perfect" for when both private
      keys (or, when the protocol is multi-party, all private keys) are
      compromised.

      (C) Acknowledgements: Bill Burr, Burt Kaliski, Steve Kent, Paul
      Van Oorschot, Michael Wiener, and, especially, Hilarie Orman
      contributed ideas to this discussion.

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