Objective Through the simultaneous measurement on gait kinematics and dynamics of older adults with and without a history of falling, the biomechanical characteristics of gait were compared, so as to provide theoretical and practical basis for the prevention of falling in older adults. Methods A total of 284 older adults over 60 years old were recruited in residential communities and apartments for the elderly. According to the inclusion and exclusion criteria, the subjects were divided into falling group ( with a falling history) and non-falling group (without a falling history) according to their falling history in the past 12 months. The kinematics and dynamics parameters of the subjects ' natural walking gait were obtained by three-dimensional ( 3D) video analysis and dynamic plantar pressure measurement. The test data were analyzed by independent sample t-test for the differences of various factors between groups. Results The dynamic parameters of left foot first metatarsal peak force, lateral heel impulse, right toe impulse in falling group were significantly different from those in non-falling group (P<0. 05). The force bearing area of the 2nd metatarsal bone of the right foot, the contact time of the left foot in buffer period, the contact time of the right front foot, the right foot transverse COP (center of pressure) track, the left foot contact hip angle, the displacement of the peak pressure point COM (center of mass) of both feet were significantly different from those of non-falling group (P<0. 05). Conclusions Compared with the older adults without a history of falling, the force area of the 2nd metatarsal bone decreases during walking, the time of foot touching the ground lengthens, the support stability decreases during the transition period, the latera displacement of COP increases, and the displacement of the center of gravity in the direction of walking decreases, indicating that muscle strength of the lower limb of the older adults decreases, the lateral swing of the foot increases, and the walking propulsion decreases, which may lead to compensatory changes in posture control strategy, with the the potential falling risk increasing. In clinical evaluation, the plantar pressure and kinematics characteristics of the gait of the older adults with a history of falling should be focused on.