The purpose of this study was to estimate the kinematics of lower limbs of accurate instep kick in Futsal. Twelve females from national soccer team were recruited in this study. Each subject was asked to perform instep kick of a stationary ball toward targets in the four corners of the goal in Futsal. VICON motion analysis was used to collect the kinematical data of lower limb and football. The results showed that kicks towards the bottom targets demonstrated significantly greater ball's velocity than towards the top targets. In addition, kicks aimed to the top corner of the goal demonstrated a higher hip angular velocity than those towards the bottom corners. The accurate soccer shooting to different target condition affected the joint kinematics and ball's velocity. The findings of this study are helpful to provide training guideline for a coach or soccer player.