Biplanar fluoroscopy (BiFlo) enables three-dimensional bone kinematics analysis using x-ray videos and bone geometry from segmented CT. Hindered by a small capture volume relative to traditional optical motion capture (MOCAP), BiFlo applications to human movement are generally limited to single-joint motions with constrained range. Here, a hybrid procedure is developed for multi-joint gait analysis using BiFlo and MOCAP in tandem. Kinematic analysis of bones surrounding the knee, ankle, and foot was performed. Results show that this hybrid protocol effectively measures knee and ankle kinematics in all three body planes. Additionally, sagittal plane kinematics for select foot bone segments (proximal phalanges, metatarsals, and midfoot) was realized. The proposed procedure offers a novel approach to human gait analysis that eliminates errors originated by soft tissue artifacts, and is especially useful for ankle joint analysis, whose complexities are often simplified in MOCAP studies.