Known at least since a references in 'The Art of Cookery, Made Plain and Easy' by Hannah Glasse, 1747 (Glasse 1747), though Glasse does not give a receipt.

Mint Sauce
Original Receipt in 'A Shilling Cookery for The People' by Alexis Soyer (Soyer 1845);415. Mint Sauce.- Chop three tablespoonfuls of green mint, put it into a basin with three of brown sugar, half a teaspoonful of salt, a quarter of pepper, and half a pint of vinegar. Use it with roast lamb; also good with cold meat and poultry.
Original Receipt in 'The Book of Household Management' edited by Isabella Beeton, 1861 (See Mrs.B)MINT SAUCE, to serve with Roast Lamb.
469. INGREDIENTS. - 4 dessertspoonfuls of chopped mint, 2 dessertspoonfuls of pounded white sugar, 1/4 pint of vinegar.
Mode. - Wash the mint, which should be young and fresh-gathered, free from grit; pick the leaves from the stalks, mince them very fine, and put them into a tureen; add the sugar and vinegar, and stir till the former is dissolved. This sauce is better by being made 2 or 3 hours before wanted for table, as the vinegar then becomes impregnated with the flavour of the mint. By many persons, the above proportion of sugar would not be considered sufficient; but as tastes vary, we have given the quantity which we have found to suit the general palate.
Average cost, 3d.
Sufficient to serve with a middling-sized joint of lamb.
Note. - Where green mint is scarce and not obtainable, mint vinegar may be substituted for it, and will be found very acceptable in early spring.