ItemTemplate
The RadLegend control exposes an ItemTemplate property which you can use to change the default ItemTemplate. The DataContext of the template is a LegendItem object.
A simple demonstration how to use the ItemTemplate property is given below:
<telerik:RadLegend HorizontalAlignment="Center" UseLayoutRounding="True">
<telerik:RadLegend.ItemTemplate>
<DataTemplate>
<Border Background="{Binding MarkerFill}" BorderThickness="1" BorderBrush="{Binding MarkerStroke}">
<Grid>
<TextBlock Text="{Binding Title}" Foreground="White" Margin="15 0 0 0" />
<Path Width="12"
Height="12"
Fill="White"
HorizontalAlignment="Left">
<Path.Data>
<Binding Path="ActualMarkerGeometry"
RelativeSource="{RelativeSource AncestorType=telerik:LegendItemControl}">
</Binding>
</Path.Data>
</Path>
</Grid>
</Border>
</DataTemplate>
</telerik:RadLegend.ItemTemplate>
<telerik:RadLegend.Items>
<telerik:LegendItemCollection>
<telerik:LegendItem MarkerFill="#FF55AA33" MarkerStroke="Black" Title="Legend item 1" />
<telerik:LegendItem MarkerFill="#FFCC3399" MarkerStroke="Black" Title="Legend item 2" />
<telerik:LegendItem MarkerFill="#FF5511BB" MarkerStroke="Black" Title="Legend item 3" />
</telerik:LegendItemCollection>
</telerik:RadLegend.Items>
</telerik:RadLegend>
And here is the end result: