A method for assessing maximum foot clearance (maxFCl) during overground walking and obstacle passing using magnetic and inertial measurement units (MIMUs) placed above the malleoli is proposed and validated. The method precision and accuracy were evaluated using a stereo-photogrammetric system as a gold standard. The proposed method was applied to the data obtained from the gait of both healthy subjects and patients with various abnormal gaits. First, an optimally filtered direct and reverse integration (OFDRI) was used for each gait cycle to determine the gait velocity. Then, the effect of an additional OFDRI or a simple DRI approach for obtaining vertical foot displacement was explored. The results showed that the mean absolute errors associated to the maxFCl estimates were about 10% of its range of variation for the healthy and pathological subjects during overground walking. An accurate estimate of the maxFCl during obstacle passing was reached (mean absolute errors less than 5%). Additional testing on gait at various gait speed and on a greater number of subjects should be carried out to fully validate the MIMU-based maxFCl estimates.