Impaired walking function following stroke leads to long-term disability and reduced participation in daily activities (_1,2). The present study highlights the importance of evaluating dynamic stability during gait to provide insight on functional abilities and identify those at a higher risk of falling. The objectives included comparing centre of pressure (COP) parameters between the paretic and non-paretic limbs during the single support phase, and relating step-to-step variability in COP parameters to the severity of sensorimotor control impairment. Stroke survivors walked at their preferred and fast speed over a pressure sensitive mat. The results demonstrated an asymmetrical anterior-posterior (AP) COP displacement in favour of the non-paretic limb. A modification in forward progression was demonstrated by delays in advancing the COP over the foot. Step-to-step AP-COP displacement variability under the paretic limb was negatively associated to sensorimotor control. This work emphasizes the importance of evaluating dynamic stability during post-stroke gait performance.