In this study, we determined joint moments and muscle forces in the lower extremity during walking with different heel-height shoes using the 3D motion analysis and the corresponding musculoskeletal modeling. Totally fifteen healthy women participated in the 3D motion analysis for various walking with barefoot, flat shoe, 3cm, 6cm and 9cm high heels. Inverse dynamic simulations were also performed using a musculoskeletal model in order to calculate joint moments and muscle forces in the lower extremity. As for the hip, joint angles, joint moments and corresponding muscle forces did not show significant differences. Rectus femoris, a biarticular muscle for hip flexor and knee extensor, revealed stronger effect on the knee than the hip. Soleus, playing the most important role for ankle plantarflexor, showed decreases in the maximum muscle force at pre-swing, as heel height increased. Tibialis anterior produced larger dorsiflexion moments for foot clearance with higher-heeled shoes.