The objectives of this study were to measure the effect of walking velocity on net joint moments and joint powers in the hindlimb during stance and to use the data to predict these variables at different walking velocities. Videographic and force data were collected synchronously from 5 sound horses walking over a force plate at a range of velocities. Force and kinematic data from 56 trials were combined using an inverse dynamic solution to determine net joint moments and joint powers. Analysis by simple regression and correlation (P<0.05, r2>0.30, r>0.50) showed that, in early stance, there were significant velocity-dependent increases in the peak magnitudes of the following variables: extensor moment and positive power at the hip, flexor moment and positive power at the stifle, extensor moment, negative and positive power at the tarsus, and flexor moment and negative power at the fetlock. In late stance, there were significant velocity-dependent increases in the peak magnitudes of the following variables: flexor moment at the hip, negative power at the stifle and flexor moment and positive power at the tarsus. As velocity increased, the hip showed an increase in energy generation, whereas the tarsus showed increases in both energy generation and absorption. It is concluded that an increase in walking velocity is associated with increases in peak magnitudes of the net joint moments and joint powers in the hindlimb; and that energy generation at the hip makes the largest contribution to the increase in velocity.