This study proposes a tiptoe-mounted sensor system for measuring the trajectory of center of foot pressure during stance phase in addition to gait parameters during swing phase. Trajectory of center of foot pressure can be used to estimate physical performance, balance ability and gait posture. Gait parameters provide information for evaluation of risk of fall, early diagnosis of dementia and so on. Therefore, gait measurement system which measures gait performance of both stance phase and swing phase characteristics is useful to collect comprehensive information on the way of walking. Tiptoe-mounted sensor system is developed to measure foot pressure, 3D acceleration and 3D angular velocity. Six pressure sensors are mounted under the inner sole of shoe to measure the foot pressure. Gait parameters are estimated using acceleration and angular velocity. Experimental results show that 3D foot trajectory and foot pressure path are obtained during normal gait wherever subjects are.