The name "Velcro" comes from a combination of "velour" and "crochet". The loop side of velcro looks like velour fabric under magnification, while the hooks are similar to crochet hooks.
Velcro is a trademark of Velcro Industries B.V., founded by George de Mestral to develop his invention. It is still an independent company, manufacturing hook and loop fastenings for automotive, industrial and consumer use. There is even "silent Velcro", developed and manufactured for the US Army.
The generic name for Velcro is hook and loop fastening.