The 21 May 2021 Maduo earthquake was the largest event to occur on a secondary fault in the interior of the active Bayanhar block on the north-central Tibetan plateau in the last twenty years. A detailed kinematic study of the Maduo earthquake helps us to better understand the seismogenic environments of the secondary faults within the block, and its relationship with the block-bounding faults. In this study, firstly, SAR images are used to obtain the coseismic deformation fields. Secondly, we use a strain model-based method and steepest descent method (SDM) to resolve the three-dimensional displacement components and to invert the coseismic slip distribution constrained by coseismic displacement fields, respectively. The three-dimensional displacement fields reveal a dominant left-lateral strike-slip motion, local horizontal displacement variations and widely distributed near-fault subsidence/uplift deformation. We prefer a five-segment fault slip model, with well constrained fault geometry featuring different dip angles and striking, constrained by InSAR observations. The peak coseismic slip is estimated to be ~5 m near longitude 98.9°E at a depth of ~4–7 km. Overall, the distribution of the coseismic slip on the fault is highly correlated to the measured surface displacement offsets along the entire rupture. We observe the moderate shallow slip deficit and limited afterslip deformation following the Maduo earthquake, it may indicate the effects of off-fault deformation during the earthquake and stable interseismic creep on the fault. The occurrence of the Maduo earthquake on a subsidiary fault updates the importance and the traditional estimate of the seismic hazards for the Kunlun fault.