Using three-dimensional human motion capture system and three-dimensional force plates, a series of experiments on dynamic properties of human-induced walking load at seven different walking frequencies was conducted. Seventy three test subjects had participated the experiments leading to 5 004 records of single footfall trace. The continuous time history of walking load is synthesized with single-step force by using its exact landing time. Based on the experiment measurements, the first five orders of dynamic load factors and phase angles from Fourier-series Model of both vertical and lateral walking load are given. By comparing with existing models from other countries, different characteristics of walking are noticed. The model proposed in this paper could be provided for structural design and analysis of long-span structures considering the problem of serviceability caused by human walking.