This study aimed to investigate the effects of visual stimulus and walking speed on the metatarsophalangeal (MTP) joint axis orientation and foot progression angle during walking. To achieve this, foot movement data were collected using six reflective markers, nine motion capture cameras, and a treadmill. Experiments were conducted on six adult participants under visual stimulus conditions (TV viewing) and three walking speed conditions (slow, normal, and fast). The MTP joint axis orientation was defined based on angular velocity vectors during the heel-off to toe-off phases, while the foot progression angle was measured as the angle between the foot direction and the walking direction at the onset of heel-off. The analysis revealed that visual stimulus did not have a statistically significant effect on the MTP joint axis orientation. However, walking speed had a considerable impact on the MTP joint axis orientation, with the oblique axis being more utilized at slow speeds to maintain stability and balance, and the transverse axis being predominantly used at fast speeds to optimize energy efficiency and propulsion. Additionally, the interaction between visual stimulus and walking speed significantly influenced the MTP joint axis angle during the mid heel-off phase. At slow and normal speeds, visual stimulus tended to increase the forefoot load, leading to greater reliance on the transverse axis. Under visual stimulus conditions, the range of foot progression angles expanded, and the frequency of out-toeing gait increased, which was interpreted as an adaptive strategy to reduce knee load. This study investigates the effects of walking speed and visual stimulus on the MTP joint axis orientation and foot progression angle, enhancing the biomechanical understanding of foot and metatarsophalangeal (MTP) joint movements. Additionally, it provides guidance for the design of foot structures in prosthetics and assistive devices.