A wireless sensor-based lameness evaluation system detects and analyzes patterns of vertical head and pelvic motion of a four-legged animal in correlation with at least one limb movement. The system includes a plurality of motion sensors attached to the head, pelvis (or along the center of the back), and at least one limb of the animal. A processing system in receives the motion data and processes the motion data to detect and quantify forelimb and/or hindlimb lameness in the animal.
