Objective: To formulate an equation estimating months to independent walking in moderate to late preterm infants based on neonatal characteristics and gross motor development from 7 months to independent walking. Methods: Sixty infants born between 32 to 36 weeks were assessed using Alberta Infant Motor Scale (AIMS) for gross motor development. Neonatal characteristics were recorded at 7 months, and caregiver-reported independent walking onset. Pearson correlation analyzed age, AIMS scores, and neonatal factors. Multiple regression developed the prediction equation. Results: The equation for independent walking onset, which included gestational age (GA) at birth, total AIMS score at 10 months of age (10th AIMS), and birth head circumference (BHC), exhibited a strong correlation (r=0.707) and had a predictive power of 50.0%. The equation is as follows: age onset of independent walking (months)=33.157, -0.296 (GA), -0.132 (10th AIMS), -0.196 (BHC), with an estimation error of 0.631 months. Conclusion Neonatal characteristics, such as GA, 10th AIMS, and BHC, are key determinants in estimating the onset of independent walking in moderate to late preterm infants.