The purpose of this study is to compare differences between kinematic parameters of pediatric gait obtained by direct kinematics (DK) (Plug-in-Gait) and inverse kinematics (IK) (AnyBody) models. Seventeen healthy children participated in this study. Both lower extremities were examined using a Vicon 8-camera motion capture system and a force plate. Angles of the hip, knee, and ankle joints were obtained based on DK and IK models, and ranges of motion (ROMs) were identified from them. The standard error of measurement, root-mean-squared error, correlation r, and magnitude-phase (MP) metrics were calculated to compare differences between the models' outcomes. The determined standard error of measurement between ROMs from the DK and IK models ranged from 0.34° to 0.58°. A significant difference was found in the ROMs with the exception of the left hip's internal/external rotation. The mean RMSE of all joints' amplitudes exceeded the clinical significance limit and was 13.6 ± 4.0°. The best curve angles matching nature were found in the sagittal plane, where r was 0.79 to 0.83 and MP metrics were 0.05 to 0.30. The kinematic parameters of pediatric gait obtained by IK and DK differ significantly. Preferably, all of the results obtained by DK must be validated/verified by IK, in order to achieve a more accurate functional assessment of the individual. Furthermore, the use of IK expands the capabilities of gait analysis and allows for kinetic characterisation.