Aim Fear of falling (FOF) is associated with spatial and temporal gait parameters in older adults. FOF is prevalent among older adults, both those with and without fall history. It is still unclear whether the relationships between FOF and gait parameters are affected by fall history. The aim of the present study was to compare gait parameters by the presence of FOF and fall history. Methods A total of 3575 older adults (mean age 71.7 years, 49.7% female) met the inclusion criteria for the present study. We assessed the presence of fall history and FOF by face‐to‐face interview, and gait parameters (gait speed, stride length, step rate, double support time and variation of stride length) at a comfortable speed using a computerized electronic walkway. Results Prevalences of fall history and FOF were as follows: non‐fallers without FOF 52.6% (n = 1881); fallers without FOF 6.3% (n = 227); non‐fallers with FOF 34.4% (n = 1229); and fallers with FOF 6.7% (n = 238). Analysis of covariance showed significant differences among the four groups in all gait variables even after adjusting for age, sex and number of medications used. It should be noted that non‐fallers with FOF showed significantly slower gait speed, shorter stride length and longer double support time than did non‐fallers without FOF (P < 0.001). Conclusions The present results suggest that spatial and temporal gait parameters are influenced by FOF, even in the absence of fall history. The assessment of FOF might be helpful for better understanding of age‐related changes in gait control. Geriatr Gerontol Int 2017; ••: ••–••.