This study aims to understand the aesthetic characteristics of court dances in Joseon Dynasty by focusing on the relationship between dance and space. It examines the characteristics of the relationship between dance and the courtyard, a space for performance, through the literature and drawings of Joseon Dynasty. Joseon Dynasty based on Confucianism compiled Gukjo oreui, which was used as the norm for rites. As an inner rule for ideologization in the cultural sphere, it was used in a very soft and symbolic way at court rites. All the rites featured jeongjae, or court dances balanced with music, which were performed in daetteul, or the main courtyard. The illustrations of court dances in Joseon Dynasty show some characteristics of daetteul. First, daetteul, the space of court dances, implied social relationships. Second, daetteul had a central class that used it, and it was used in a mixed way depending to the purpose. In this process, the dance space of daetteul was subject to change. Third, the hierarchy that appeared in daetteul had three-dimensionality. The rites in daetteul served to make one aware of one's status according to class and to solidify the authority of the king. This appeared three-dimensionally in daetteul, as architectural hierarchy, horizontal hierarchy, hierarchy of elevation, and hierarchy of gaze. These characteristics are also related to the characteristics of court dance. Daetteul, as a symbolic space where rites were held, implied social hierarchy, and depending to the characteristics of the space, court dances also had the characteristics such as meaningfulness, internalization, and jeongjungdong (lit. movement in calmness). Dances were used in various ways due to the variable nature of the stage and were performed in a structure similar to the modern repertory system. In addition, the three-dimensional hierarchical space of daetteul created a stage in five directions and accordingly, dance also acquired a three-dimensional character. The court had the symbolism that it is a space for performing rites and reinforced that symbolism through performing rites. This means that space and dance had a reciprocal and circular nature and was reproduced through repetitive rhythms, reinforcing each other's symbolism. Therefore, this study confirms that the characteristics of the Joseon court dances are derived from the relationship between dance and space that implies social relationship, and the relationship between dance and space is reciprocal and circular.