Higher mass-normalized net energy cost of walking (NetC_w/kg) and mechanical pendular recovery are observed in obese compared to lean adults. This study aimed to investigate the effect of different classes of obesity on the energetics and mechanics of walking and to explore the relationships between body mass, NetC_w/kg and gait mechanics by using principal component analysis (PCA). NetC_w/kg and gait mechanics were computed in severely obese (SOG; n = 18, BMI = 40.1 ± 4.4 kg·m⁻²), moderately obese (MOG; n = 17, BMI = 32.2 ± 1.5 kg·m⁻²) and normal-weight (NWG; n = 13, BMI = 22.0 ± 1.5 kg·m⁻²) adults during five walking trials (0.56, 0.83, 1.11, 1.39, 1.67 m·s⁻¹) on an instrumented treadmill. NetC_w/kg was significantly higher in SOG compared to NWG (p = 0.019), with no significant difference between SOG and MOG (p = 0.14), nor between MOG and NWG (p = 0.27). Recovery was significantly higher in SOG than in NWG (p = 0.028), with no significant difference between SOG and MOG (p = 0.13), nor between MOG and NWG (p = 0.35). PCA models explained between 17.0% and 44.2% of the data variance. This study showed that: (1) obesity class influences the gait energetics and mechanics; (2) PCA was able to identify two components, showing that the obesity class is associated with lower walking efficiency and better pendulum-like characteristics.