Human age estimation from gait is expected to be an important technology for a variety of applications such as automatic customer counting for marketing research or automatic age-based access control restriction for a specific area because the gait can be observable at a distance from a camera (e.g., CCTV). Although the aging process of gait significantly differs among age groups (e.g., children, adults, and the elderly), previous studies on gait-based human age estimation employ a single age group-independent estimation model that suffers from large estimation errors when the age variation increases. We therefore propose an age group-dependent gait-based human age estimation method for better accuracy. Specifically, in the training phase, we first compose age groups that are well-separated from each other by clustering gait features along with their age labels. We then learn a classifier that classifies the gait features for multiple age groups using a directed acyclic graph support vector machine. Next, we learn an age regression model for each age group using support vector regression with a Gaussian kernel in conjunction with a manifold learning technique, i.e., orthogonal locality preserving projection, to better characterize the gait feature. In the test phase, given a gait feature, it is first classified into an age group and then its age is estimated with the age regression model of the classified age group. Experimental results on a gait database that has the world’s largest population of participants ranging from 2 to 90 years old demonstrate the state-of-the-art performance of the proposed method.