This paper describes the design and evaluation of a miniature kinematic sensor based three dimensional (3D) joint angle measurement technique. The technique uses a combination of rate gyroscope, accelerometer and magnetometer sensor signals. The technique enables 3D inter-segment joint angle measurement and could be of benefit in a variety of applications which require monitoring of joint angles. The technique is not dependent on a fixed reference coordinate system and thus may be suitable for use in a dynamic system such as a moving vehicle. The technique was evaluated by applying it to joint angle measurement of the ankle joint. Experimental results show that accurate measurement of ankle joint angles is achieved by the technique during a variety of lower leg exercises including walking.