The best answer I can think of is the Fool. This was a jester in almost all Renaissance courts, and is also known as a clown. The Fool was known by many names in fact.
A particularly good real-world example of a clown would have been a contemporary of Shakespeare: a famous Elizabethan actor, William Kempe. The peasants often loved Fools as they frequently subtly made fun of the nobility. This is a good Wikipedia article explaining the Fool back then, linking it rightly back to Ancient Rome (and Greece), where a good part of Western literature draws its tropes, types, and origins:
https://en.m.wikipedia.org/wiki/Shakespearean_fool
You may have to copy and paste the link. Embedded in this article are many other passages relevant to your question.