Gait analysis enables the understanding of disease progression, as well as the effects of surgical intervention or physical therapy. Kinematics, the study of geometry of motion, is often a component of gait analysis, yet is underutilized in veterinary medicine. There are several protocols and three-dimensional (3-D) kinematic models in human gait analysis: one model known as a six-degrees-of-freedom (6DOF) model uses what is known as a joint coordinate system (JCS) to describe joint motion in clinically relevant terms. While a 6DOF model of the canine pelvic limb has been described, there is no equivalent for the canine thoracic limb. Lack of a thoracic limb model is not the only limiting factor for clinical applications of 3-D kinematic gait analysis in veterinary medicine- another rate-limiting step is efficiently calculating 3-D joint kinematics. The main contribution of this work is to present software to provide clinicians and researchers a quick method for calculating 3-D joint angles for both the thoracic and pelvic limbs of dogs. The initial step was to describe 3-D motion of the canine thoracic limb using JCS, then to compare the sagittal plane motion to previous 2-D models. The results of the second study established that the JCS 3-D model produced similar sagittal plane kinematics to previously described 2-D models. In addition, the JCS model provides transverse and frontal plane joint motion. The last step was to use the JCS model to evaluate the influence of wearing a tactical harness on canine thoracic limb motion. The last study found that a tactical harness does change thoracic limb motion, however more research is needed to determine how a tactical harness would affect the performance of military working dogs. Establishing the JCS 3-D thoracic limb model and combining it with the previously established JCS 3-D pelvic limb model, allowed for the creation of a MATLAB-based app that quickly calculates joint angles. The hope is that this app will be useful to further the field of canine kinematic gait analysis.