Hiking offers both recreational enjoyment and physical challenges, requiring speed adjustments when traversing uphill and downhill slopes. These adjustments prompt compensatory responses in kinematics and kinetics to mitigate fatigue and musculoskeletal strains. The study aimed to explore the impact of slope-specific walking speeds on spatiotemporal gait parameters, vertical ground reaction forces (vGRFs), and position of the center of pressure (COP) during uphill and downhill walking. Thirty-two healthy individuals completed five 4-min walks on an instrumented treadmill set to 0% (level), +10%, and +20% (uphill), and −10% and −20% (downhill), slopes, at 5.0, 3.5, 2.5, 5.0 and 3.5 km h−1, respectively. Uphill walking led to reduced stride length and cadence, increased foot rotation, step time, and durations of stance, swing, and double-stance phases. Conversely, downhill walking exhibited decreased step length, step time, and durations of stance, swing, and double-stance phases but increased step width and cadence compared to level walking. Speed adjustments to accommodate slope led to reduced vGRFs for uphill and downhill walking. Additionally, the COP shifted forward during uphill and backward during downhill walking and displaced laterally as walking became more demanding. The observed responses indicate adaptations aimed at maintaining postural control, reducing excessive load application, and optimizing energy expenditure on sloping terrain.