Purpose The purpose of this study was to investigate the effects of backward walking training(BWT) on range of motion of ankle joint, foot pressure, balance, and gait in patients with hemiplegia. Methods The participants were randomly assigned to study group and control group with 16 participants in each group. The study group performed BWT while the control group performed conventional physical therapy. The respective intervention was performed three times a week for six weeks and 30minutes per session in each group. This study evaluated by range of motion(ROM) of ankle joint, foot pressure, limits of stability(LOS), functional reach test(FRT), Berg balance scale(BBS), 10m walk test(10MWT) and ground reaction force(GRF) were evaluated to confirm the effects of the interventions. Paired t-test was performed to compare the difference between before and after intervention within groups. And independent t-test was used to compare with control group. Results The study group that underwent BWT showed a significant increase in ROM of ankle joint (p<.001), left․right symmetry(p<.01), weight distribution at the hindfoot of the affected side(p<.01), LOS(p<.001), FRT(p<.001) and BBS(p<.001) post-intervention compared to the control group(p<.05). In addition, the study group showed significant improvement in gait velocity(p<.05), step length(p<.05), and cadence(p<.01) of measured in a 10MWT, which evaluated gait ability, post-intervention. However, the increase was not significant when compared to that in the control group(p>.05). GRF showed significantly improved post-intervention(p<.001) compared to the control group(p<.05). Conclusion BWT significantly improved ROM and control of ankle joint of the affected side, foot pressure, balance and gait ability compared with the control group. Therefore, it was confirmed that BWT is an effective intervention for restoring balance and gait ability in patients with hemiplegia.