This work proposes an algorithm to measure the variation of joint angles of the extremities of Peruvian Paso Horses through the use of inertial sensors to obtain an estimation of their characteristic movements known as «pisos». These angles will be measured in the frontal and sagittal planes, and a complementary filter will be used to reduce the SNR and thus the percentage of error. Finally, an algorithm computes the corvejón angle, as well as the «Término», «Agudez» and «Acción» angles. These are shown in an angle-versus-time plot for zootechnicians to analyze and draw conclusions regarding the performance of these animals.