Lower limb kinematics of the roundhouse kick is a well-known topic studied by many researchers. However, there is a lack of data about the velocity of the core and upper limbs during the execution of this technique. The aim of this study was to evaluate the differences in velocities of all crucial body segments while executing roundhouse kicks for both sides of the body. Thirteen elite taekwon-do athletes participated in this study. They performed kicks to a table tennis ball three times using each leg. The spatial-temporal data of markers placed on toes, knees, hips, shoulders, elbows, hands, and sternum were captured with the use of the Human Motion Lab equipment composed of 10 infrared cameras NIR Vicon MX-T40. There were statistical differences in the maximal velocity of the sternum and opposite shoulder. There were different correlations between the time of acquiring maximal velocities of specific body segments and the maximal velocity of the toe marker for each kicking side. Higher correlations were observed for the left kick despite the participant’s declaration of their preference for the right leg. The obtained results facilitate the conclusion that small non-resistant targets require different motor control depending on the kicking side, despite not revealing significant differences between maximal velocity. While such an indicator could be perceived as a suitable benchmark of an athlete’s performance, more detailed analysis seems to be required for a better understanding of martial arts techniques.