Objective To investigate the plantar force characteristics during human walking and running under different gravity environment. Methods Seven healthy male volunteers walked and ran in vertical position on a weight-loss suspension treadmill under simulated Mars gravity (1/3 G) and lunar gravity (1/6 G), and traditional earth gravity (1 G) respectively at three different velocities (3, 7 and 10 km/h). During the exercise, parameters such as stance phase, plantar force, and gait balance in gait cycle were analyzed by using the F-scan insole pressure distribution measurement system. Results At the same velocity during a gait cycle, the contact phase was significantly shorter with the decrease of gravity, but the swing phase was significantly longer (P<0.01). With the increase of velocity, the contact phase was obviously reduced (P<0.01), while the swing phase was unaffected (P>0.05). The peak and average plantar force, force integrity were significantly reduced with the decrease of gravity. Under normal gravity, the increase of velocity could lead to an obvious increase in peak and average plantar force and an obvious decrease in force integrity. While under simulated lunar and Mars gravity, no significant changes were found in plantar force (P>0.05). Under the three gravities, the ratio of vertical impact was quite different in between (P<0.05), but no significant difference was found in the phase symmetry index. Conclusions As compared to normal gravity environment, parameters benefiting for skeleton and muscle function such as plantar force and contact phase were found to be much smaller under low gravity environment, indicating the necessity of considering these factors when designing countermeasures or exercise prescriptions for space flight so as to sustain the astronaut’s normal function of skeleton and muscle.