Background: Midfoot osteoarthritis (OA) affects one in eight people over 50, yet its impact on foot and lower limb kinematics remains poorly understood. This study compared foot and lower limb kinematics during level walking and stair climbing between people with and without symptomatic radiographic midfoot OA. Methods: Symptomatic radiographic midfoot OA was defined as midfoot pain in the last 4 weeks and radiographic OA in one or more midfoot joints. Cases aged ≥ 45 years were matched 1:1 for sex and age (± 5 years) to controls. A 10-camera motion analysis system was used to capture foot and lower limb kinematics during level walking and stair climbing, which were analysed with a validated multi-segmental lower limb model. Group differences were analysed using independent samples t-tests and effect sizes for discrete angles, whereas statistical parametric mapping compared kinematic patterns between groups. Results: We included 24 midfoot OA cases (mean age 64.4, SD 9.5) matched to 24 controls (mean age 65.2, SD 10.1). During level walking, people with midfoot OA walked slower and displayed absolute joint angles that showed less hip extension throughout stance, less knee flexion in early and late stance, less ankle dorsiflexion throughout stance (medium to large effects), greater subtalar pronation in late stance, and greater tarsometatarsal supination during early stance (medium effects). There were few differences during stair ascent and descent. Conclusion: People with midfoot OA walk slower and demonstrate medium to large differences in sagittal plane hip, knee, and ankle kinematics, and medium differences in subtalar and tarsometatarsal kinematics. These findings offer insights into the walking patterns of people with midfoot OA and the mechanisms that may contribute to or result from the condition. Prospective studies are needed to clarify the temporal relationship between these factors and midfoot OA development.