Addressing the risk of musculoskeletal disorders (MSDs) during a tennis serve is a challenge for both protecting athletes and maintaining performance. The aim of this study was to investigate the risk of MSD occurrence using the rapid whole-body assessment (REBA) ergonomic tool at each time step, using 3D kinematic analysis of joint angles for slow and fast serves. Two force platforms (750 Hz) and an optoelectronic system including 10 infrared cameras (150 Hz, 82 markers located on the whole body and on the racket) were used to capture the kinematics of the six REBA joint areas over five services in two young male and two young female ranked players. The mean REBA score was 9.66 ± 1.11 (ranging from 7.75 to 11.85) with the maximum value observed for the loading and cocking stage (REBA score > 11). The intermediate scores for each of the six joint areas ranged between 2 and 3 and the maximum value of their respective scales. The lowest scores were observed for the shoulder. Neck rotation and shoulder flexion are parameters that could be taken into account when analyzing performance in the context of MSD prevention.