Aim To elucidate the incidences and circumstances of falls and fall‐related injuries, and to explore the physical characteristics of community‐dwelling ambulatory stroke survivors who experienced falls. Methods A total of 144 community‐dwelling ambulatory survivors of hemiparetic stroke (mean age 68.0 years [SD 10.4 years]) who were undergoing rehabilitation in an adult daycare center participated in this prospective study. The mean duration from stroke onset was 5.21 years (SD 3.15 years). The occurrence of falls was collected for 1 year with a fall diary. The incidence rates of falls and fall‐related injuries, and the detailed circumstances of falls were descriptively analyzed. The characteristics of fallers were explored by comparing background information, motor impairments and results of physical function tests, including the 10‐m walk test, Timed Up and Go test and five‐times‐sit‐to‐stand test, between fallers and non‐fallers. Results The incidence rates of falls and fall‐related fractures were 0.88 per person‐year and 2.8 per 100 person‐years, respectively. Falls occurred more frequently during daytime and in winter. Falls were caused most often by losing balance while walking indoors, especially on the way to the toilet. After falling, 34.1% of individuals who fell could not stand up by themselves. The time of the five‐times‐sit‐to‐stand test was significantly longer in fallers than in non‐fallers (P < 0.05). Conclusions The incidence rate of falls was high among community‐dwelling ambulatory survivors of hemiparetic stroke. Appropriate approaches, including mastering the skills to cope with falling, are required, especially for individuals with reduced lower limb muscle strength. Geriatr Gerontol Int 2019; 19: 240–244.