Objective To accurately measure the motion angels of hand-related joints during manipulations of acupuncture needle thrusting-pulling and twirling, so as to provide quantitative references for acupuncture manipulation. Methods Six acupuncturists with over 3-year acupuncture experience and one volunteer were enrolled in this study. The angles of the forearm, wrist, metacarpophalangeal & interphalangeal joints of the thumb and index finger in each acupuncturist when performing thrusting-pulling and twirling manipulation were measured by the video motion capture (VMC) system, and the different ranges of above-mentioned angles among the 6 acupuncturists when performing 10 trails of thrusting-pulling and twirling manipulations on the volunteer’s thigh were compared. Results There was no significant difference in the ranges of relevant hand-related angles in the acupuncturist (P>0.05). The manipulation of thrusting-pulling was mainly managed by the wrist joint, with the range of (7.23±1.87)°, while the manipulation of twirling was mainly managed by the interphalangeal joints of the index finger, and the range of the first and second interphalangeal joints of the index finger was (28.33±2.18)°and (10.43±1.69)°, respectively. Conclusions The VMC can be a reliable method to quantify the parameters of acupuncture manipulation. Different acupuncture manipulation shows particular variation of the joint angles, which can be used as a reference to quantify the acupuncture manipulation.