Coordination of the respiratory rhythm with the rhythm of limb movements has often been observed during rhythmical exercise (e.g. in locomotion). It is usually associated with changes in the respiratory time course, but not in the locomotor rhythm. Therefore, we hypothesised that in walking, the extent of coordination-related changes (CRC) in respiratory parameters would increase with closer coordination. With respect to the controversially discussed question of a possible energetic advantage due to coordination, we devoted particular interest to the CRC in oxygen uptake (VO2). In addition, we investigated the incidence and the extent of CRC in the stepping rhythm. We examined 18 volunteers walking on a treadmill at three different workload levels, which were adjusted by altering either the velocity or slope of the treadmill. Each walking test was carried out twice, once with spontaneous breathing and once with breathing paced by a step-related acoustic signal to enhance the coordination between breathing and walking. No correlation was found between the CRC in the analysed parameters and the degree of coordination. However, the extent of CRC of ventilation and VO2 decreased with increasing workload. With the transition to coordination, increases and decreases of VO2 occurred about equally often. From this we conclude that energetic economisation in walking, as reflected by a reduction in VO2, is rather a side-effect of coordination, and is probably due to a more precise regulation of the breathing pattern. The economisation was more pronounced at higher work loads than at lower work loads. Our results revealed that coordination is also associated with changes in the stepping rate, which occurred more frequently when the variability of breathing was restricted by acoustic pacing of the breathing rhythm. This finding suggests that the choice of walking rhythm is not completely free, but can be influenced by the breathing rhythm. CRC in the walking rhythm might contribute to the avoidance of excessive CRC in the respiratory time course, which would entail an inefficient breathing pattern and thus, an energetic disadvantage.