Differences in horseshoe materials may have effects on gait that could change perceived esthetic qualities. Objective information regarding effects of shoeing on gait characteristics of horses is scant. The aim of this study was to determine differences in gait characteristics for horses under various experimental shoeing conditions (barefoot, aluminum shoes, steel shoes) on two surfaces (asphalt and soft footing) using body- and hoof-mounted sensors. We hypothesized that shoeing would affect hoof arc height during early (arc height a) and late (arc height b) swing phases but would not affect other gait variables. Twelve healthy, adult, client-owned horses were evaluated at a trot on asphalt and soft footing under the three experimental shoeing conditions. No significant (p < 0.05) effects of shoeing were detected for gait symmetry (Q score), mediolateral hoof deviation, stride length, or midstance, breakover, swing, and landing stride phase times. Hoof arc height a was significantly (p < 0.001) lower for aluminum versus steel shoes for right and left forelimbs on asphalt and soft footing. Hoof arc height b was significantly higher for aluminum versus steel shoes on soft footing for left (p < 0.001) and right (p = 0.02) forelimbs. Findings indicate that shoe weights affect early and late swing phase hoof heights differently. Further investigation is warranted to determine whether measured hoof arc height changes affect subjective esthetics of gait.