Objective To explore the parameters and effects of local Euler angle in the kinematic simulation of lower limb joints.    Methods  The hip, femur, patella, tibia, fibula and foot bones were segmented and reconstructed based on one set of computed tomographic (CT) data. The virtual models were imported into 3DSMax for smoothing, optimization, axis regulation and other processing. Models were imported into Unity3D after being processed, and the hip, knee, ankle and metatarsophalangeal joints were simulated with local Euler angle. The scripts were tested to adjust the relevant parameters. The documents were released as executable documents.   Results  The movement of hip, knee, ankle and metatarsophalangeal joints could be simulated as real movement without exceeding the range of articular fossa(-170°-170° in flexion and extension, -30°-80° in abduction and adduction, -40°-60° in rotation of hip joint; 0-140 degrees in flexion of knee joint; -60°-55°in flexion and extension and -30°-20° in varus and evagination of ankle joint; -40°-30° in flexion and extension of metatarsophanlangeal joint).  Conclusion The local Euler angle used in Unity3D based on “parent-children” relationship is adapt to simulate the real range of single and whole motion of lower limb joints.