The purpose of this study was to identify 3D kinematic and kinetic gait profiles in individuals with chronic stroke and to determine whether the magnitude or pattern (shape and direction of curve) of these profiles relate to gait performance (as measured by self-selected gait speed). More than one type of kinematic and kinetic pattern was identified in all three planes in 20 individuals with stroke (age = 61.2 ± 8.4 years). Persons in the “fast” speed group did not necessarily exhibit the gait patterns closest to the ones reported for healthy adults. For example, in the frontal plane, a variation from the typical pattern (i.e., a hip abductor pattern in swing) was more common among the “fast” group. Correlations revealed that in addition to the sagittal profiles, the magnitudes of the frontal and transverse profiles are also related to speed, particularly the frontal hip powers. The results support the importance of hip abductors, in addition to the sagittal plane muscle groups, for both the paretic and non-paretic limbs. Furthermore, profiles which resemble gait patterns of neurologically healthy adults do not necessarily result in the faster gait speeds for individuals with chronic stroke.