The possibility of using quantitative kinematic traits as indirect selection criteria for sport performance could be beneficial to perform an early genetic evaluation of the animals. The genetic parameters for objectively measured kinematic traits under field conditions have been estimated for the first time, in order to potentially use these traits as indicators of gait quality in future selection of the Lusitano breed. The repeatability within three different types of training (dressage, bullfighting and untrained) was also discussed. A total of 176 males (4 to 14 years old) were recorded at trot in hand using a 3D videographic system. The speed and 10 kinematic traits were studied (one temporal, two linear and seven angular variables). The genetic parameters of the kinematic variables were estimated using VCE software. The heritability estimates were moderate to high (0.18 to 0.53). The stride length and the forelimb angular variables presented the highest heritabilities (0.49 to 0.53), whereas the hindlimb angular variables revealed the lowest values (0.18 to 0.40). More than half of the genetic correlations were moderately to highly positive (mostly 0.20 to 0.70; up to 0.88 between hindlimb traits). The dressage and bullfighting groups presented the highest repeatabilities (over 0.6) in the majority of the traits, maybe because of the acquired gait regularity expected in animals subjected to specific training, and suggesting a greater influence of the individuals over the kinematic traits studied in these two subpopulations than in the untrained subpopulation. The longer swing phase duration and the larger range of motion of the elbow, hock and pelvis joints observed in the dressage group may indicate a better gait quality of this group, according to FEI (International Equestrian Federation) standards. The bullfighting and untrained groups were more similar to each other in terms of kinematic traits. Selection of young horses for characteristics such as stride length and the hindlimbs traits can apparently contribute to further genetic improvement of the performance of Lusitano breed.