The walk is a four-beat gait that averages about 4 miles per hour (6.4 km/h). When walking, a horse's legs follow this sequence: left hind leg, left front leg, right hind leg, right front leg, in a regular 1-2-3-4 beat.At the walk, the horse will alternate between having three or two feet on the ground.he canter is a controlled, three-beat gait that usually is a bit faster than the average trot, but slower than the gallop. The average speed of a canter is 16–27 km/h (10–17 mph), depending on the length of the stride of the horse.