Background: Mechanical properties of prosthetic feet can significantly influence amputee gait, but how they vary with respect to limb loading and orientation is infrequently reported. Objective: The objective of this study is to measure stiffness and energy storage characteristics of prosthetic feet across limb loading and a range of orientations experienced in typical gait. Study design: This study included mechanical testing. Methods: Force–displacement data were collected at combinations of 15 sagittal and 5 coronal orientations and used to calculate stiffness and energy storage across prosthetic feet, stiffness categories, and heel wedge conditions. Results: Stiffness and energy storage were highly non-linear in both the sagittal and coronal planes. Across all prosthetic feet, stiffness decreased with greater heel, forefoot, medial, and lateral orientations, while energy storage increased with forefoot, medial, and lateral loading orientations. Stiffness category was proportional to stiffness and inversely proportional to energy storage. Heel wedge effects were prosthetic foot dependent. Conclusion: Orientation, manufacturer, stiffness category, and heel wedge inclusion greatly influenced stiffness and energy storage characteristics. Clinical relevance These results and an available graphical user interface tool may help improve clinical prescriptions by providing prosthetists with quantitative measures to compare prosthetic feet.