Objective To compare walking efficiency, and associated physical function, between children, with and without developmental coordination disorder trait. Design Cross-sectional study. Setting The study was conducted in a Medical and Rehabilitation Center for Developmental Disabilities in Okazaki, Japan. Subjects The study included 286 children, 6–12 years of age, with and without developmental coordination disorder trait. Developmental coordination disorder trait was defined by a score below the −1 standard deviation on the Japanese version of the Developmental Coordination Disorder Questionnaire. Based on this criterion, 45 children (28 boys) were classified into the developmental coordination disorder trait group and the other 241 (115 boys) in the control group. Measures The following physical function outcomes were measured: single leg stance test; step length variability; and walking efficiency, measured using the 2-min walk test. Logistic regression analysis was used to determine the association between developmental coordination disorder trait and lower walking efficiency and physical function. Results Compared to the control group, the developmental coordination disorder group showed lower walking efficiency (P = 0.026), higher step length variability (P = 0.047), and shorter single leg stance test (P = 0.001). Developmental coordination disorder was independently associated with walking efficiency (odds ratio, 1.03; 95% confidence interval [CI], 1.001–1.061; P = 0.041) and single leg stance test (odds ratio, 0.99; 95% CI, 0.978–0.996; P = 0.006), but not to step length variability, age, and sex. Conclusions Lower walking efficiency increases energy expenditure in children with developmental coordination disorder trait. Interventions to improve walking efficiency could improve the physical function and participation of these children.