Aim. The aim of this study was to propose a kinematic classification of gait according to six minute walk test performance. Methods. Thirty-four hemiplegic subjects were enrolled. Six-minute walk test (SMWT), gait analysis and Walking Handicap Scale score (WHS) were measured. A k-means cluster analysis was used to classify the sample into three sub-groups which were homogeneous in spatiotemporal parameters, kinematic variables, and which reflected three meaningful levels of walking competency. Results. Three clusters were identified: low-functioning walkers (Cluster 1) walked for 88-172 m; intermediate-functioning walkers (Cluster 2) walked for 180-302 m and high-functioning walkers (Cluster 3) were able to cover 349-430 m. The authors found homogeneous gait profiles in these subgroups. Between-group differences on kinematic data and WHS scores were also underlined. Conclusion. Cluster analysis was able to identify consistent gait characteristics of spatio-temporal, walking endurance and sagittal plane kinematic profiles in hemiplegic subjects and is useful for categorizing the levels of walking competency in these subjects.