The naturally occurring activity patterns of anterior thigh muscle spindle afferents were recorded during unrestrained treadmill locomotion by means of floating microelectrodes chronically implanted in the fifth lumbar dorsal root ganglion. Conduction velocity of units from primary and secondary endings was determined by spike-triggered averaging of the signals from a chronically implanted nerve cuff. Activity from knee extensor muscle spindles generally occurred during periods of muscle lengthening, but was often greater for small stretches when the muscle was active (during stance phase of walking) than for larger stretches when the muscle was passive (swing phase), indicating fusimotor enhancement of spindle sensitivity in phase with extrafusal muscle recruitment. Activity from spindles in biarticular muscles acting across the knee and hip was more variable and complex than that seen in the pure knee extensors, and frequently included activity during rapid muscle shortening (swing phase) indicative of strong static fusimotor input. Changes in speed of gait caused changes in the range and velocity of muscle length excursions monitored by chronically implanted length gauges, but such changes were accompanied by only modest changes in spindle afferent activity, suggesting concurrent and compensatory changes in fusimotor influence on spindles. Activity from spindle secondary endings was generally lower, more regular, and less velocity dependent than that from primary endings, consistent with their lack of input from the dynamic fusimotor apparatus. The activity of all spindle afferents studied was similarly well modulated during extrafusal activity of the parent muscles, regardless of the kinematic conditions of muscle length and velocity during which this muscle work occurred. This suggests that the fusimotor apparatus is well orchestrated to regulate the static and dynamic sensitivity of primary spindle afferents at levels appropriate to the anticipated motion.