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Abstract Arboreal locomotion is precarious and places multiple challenges upon stability. Studies have shown that captive primates respond to narrower and steeper supports by flexing limb joints and adopting a compliant gait. We tested whether these same kinematic responses are adopted by wild primates freely ranging over a variety of supports in their natural habitats. We recorded five species of platyrrhines, five species of catarrhines, and four species of strepsirrhines with modified GoPro cameras and used remote measurement to quantify substrate characteristics. Video images were imported into ImageJ to measure the angular kinematics of limb joints during quadrupedal locomotion on a variety of arboreal supports. We statistically tested for associations between joint posture and substrate characteristics, and then disentangled the influence of phylogeny and substrate on limb joint kinematics using variation partitioning and redundancy analysis. Our results partially confirm previous kinematic studies and suggest variation in support orientation, more than diameter or compliance, influences quadrupedal gait kinematics. Phylogenetic relatedness explained more variation in the data than substrate properties. This suggests primates either prospectively choose relatively ‘safe’ substrates for locomotion, or that they possess locomotor adaptations independent of limb joint kinematics per se to overcome the challenges of the precarious arboreal environment.