This study aimed to describe a community-based ambulation training for ambulatory patients with incomplete spinal cord injury (SCI) and then to report the results of the training. Four patients with incomplete SCI participated in this study. The indoor and outdoor walking function was assessed at four intervals: pre-training, post-training, and at 4-week and 1-year follow-ups after successful completion of the community-based ambulation training. Training consisted of the four-staged ambulation protocol with weekly-increased environmental demands, which consisted of 1-hour sessions six times a week for a 4-week period (i.e., a total of 24 sessions). The walking function of all patients was remarkably improved after the training, and these effects were favorably maintained at the 4-week and 1-year follow-ups. These findings suggest that the use of community-based ambulation training is a beneficial therapeutic option to improve the walking function of ambulatory patients with incomplete SCI and to offer better opportunities for reintegration into community life.