Investigating cognitive-motor interference on the treadmill allows for better examination of motor adaptation to the dual-task challenges through the information of continuous strides. However, one of the major critiques for conducting dual-task investigation on a treadmill is the use of a constant, fixed walking speed, constraining the natural fluctuations of the speed of human walking, which could be addressed by using the self-paced feature of a feedback-controlled treadmill. Do people use different adaptation and task prioritization strategies during the dual-task treadmill walking at self-paced versus fixed speeds? Eighteen healthy younger participants walked on an instrumented treadmill (1) under two speed conditions: self-paced and fixed-speed, and (2) with and without each of the four different cognitive tasks. Dynamic margins of stability (MOS), step spatiotemporal measures, kinematic variability, and local dynamic stability were computed for each trial. Participants had significantly more local instability during self-paced than fixed-speed treadmill walking. The often-reported response of reducing stride time variability during dual-task, fixed-speed walking was not observed during dual-task, self-paced walking. In addition, there were significantly greater dual-task interference effects on stride time variability and local dynamic stability as well as the Paced Auditory Serial Addition Test performance during self-paced walking. Reduced variability in the lower-extremity joint angles, trunk motion and position, and MOS measures were observed both in dual-task, self-paced and fixed-speed walking. Healthy younger adults had different task prioritization and greater dual-task effects on gait stability and cognitive performance during self-paced versus fixed-speed walking. However, similar adaptation strategies, in terms of gait adjustments, were used for the two walking conditions. The results suggest that self-paced treadmill walking is more challenging than the fixed-speed walking and can serve as a better alternative to the overground walking than the fixed-speed walking for the dual-task investigation.