Background: The aim of the research was to analyze the effects of an intervention program based on Adapted Utilitarian Judo (AUJ) to teach fall control, over fear of falling syndrome (FOF) in a group of older adults. Method: A quasi-experimental design (pre–post measurement) was adopted, with a healthy and pre-fragile sample of 19 subjects in the experimental group and 11 subjects in the control group (65–85 years), chosen using non-probabilistic-incidental accessibility sampling. The intervention program was conducted over six weeks, with two 60-minute sessions each week. To evaluate FOF, it was applied (pretest and post-test) the 16-item version of the Falls Efficacy Scale-International (FES-I). Results: The data show significant differences between pre- and post-test in reducing FOF into both specific variables (do the shopping, walk on a slippery surface, walk in a crowded place, walk on an uneven surface, and go up and down a ramp), as in the overall score (the global values of the experimental group decreased six points in the perceived fear scale, while the global values of the group increased three points). Conclusion: The application of the AUJ program meant significant improvements in subjects’ perception of FOF.