The first objective of this study was to investigate the influence of foot angle and impact point on ball velocity and rotation immediately after impact in the side-foot soccer kicking. The second objective was to calculate impact force during the ball impact phase. Five experienced male university soccer players performed side-foot kicks with one step approach in varying foot angle and impact point. The kicking motions were captured three-dimensionally by two high-speed video cameras at 2500 fps. Impact on the area from the center of mass of the foot to the medial malleolus produced the greatest ball velocity. Varying the foot angle with the same impact point did not affect the ball velocity. Also, Impact on the surrounding area of the metatarsal with large foot angle produced the greatest ball rotation. Even if the impact point was the same, the ball rotation increased with the foot angle. Time change of the impact force was calculated from the ball deformation, based on the Hertz contact theory. As an example, in a trial with a ball velocity of 16.3 m/s, a peak ball deformation was approximately 4 cm and a peak impact force was approximately 1200 N.