Objective: The purpose of the study was to evaluate the kinematic characteristics of pelvic limb joints in orthopaedically normal dogs during stair ascent. Design: Prospective study. Procedure: Eight hound-type dogs were fitted with reflective spheres at palpable landmarks, including the tuber ischium, greater trochanter, cranial dorsal iliac spine, lateral epicondyle of the femur, lateral malleolus, and the base of the fifth metatarsal bone. Each dog was walked up a set of custom made stairs consisting of four steps and then trotted across a level test space. Data were recorded for the right and left pelvic limbs during ascent. Maximum and minimum joint angles and total joint motion were calculated for all joints and evaluated statistically. Results: Pelvic limb joints had a greater total joint excursion during stair ascent. There was greater extension of the coxofemoral and tibiotarsal joints during ascent, whereas the stifle joint had less extension. Maximum flexion of the stifle and tarsal joints was significantly greater in stair ascent. There was not any significant difference between the right and left limbs. Conclusions: All joints of the pelvic limb undergo a greater joint motion to ascend stairs.