Background: Arm swing plays a role in gait by accommodating forward movement through trunk balance. This study evaluates the biomechanical characteristics of arm swing during gait. Methods: The study performed computational musculoskeletal modeling based on motion tracking in 15 participants without musculoskeletal or gait disorder. A three-dimensional (3D) motion tracking system using three Azure Kinect (Microsoft) modules was used to obtain information in the 3D location of shoulder and elbow joints. Computational modeling using AnyBody Modeling System was performed to calculate the joint moment and range of motion (ROM) during arm swing. Results: The mean ROM of the dominant elbow was 29.7°±10.2° and 14.2°±3.2° in flexion–extension and pronation–supination, respectively. The mean joint moment of the dominant elbow was 56.4±12.7 Nm, 25.6±5.2 Nm, and 19.8±4.6 Nm in flexion–extension, rotation, and abduction–adduction, respectively. Conclusions The elbow bears the load created by gravity and muscle contracture in dynamic arm swing movement.