The purpose of this study was to investigate inter-joint coordination in terms of angular velocities and muscle activities of lower limb in responding to jumping height. Ten young male participants performed their maximal vertical jump and three different submaximal jumps (25, 50, and 75% of the maximal height) according to their kinesthetic feelings. The jumping heights, joint angles, angular velocities, and average-integrated electromyography were calculated and compared by repeated measures analysis of variance. Results demonstrated that participants tried to use their hip joint dominantly to increase their jump heights, while the ankle joint was invariant kinematically regardless of increased jump heights. A sequential order of peak angular velocity was detected at submaximal jumps and simultaneous peak angular velocities of the hip, knee, and ankle were found at maximal jump. These changes in inter-joint coordination was explained by changes in biarticular muscle activities in hamstrings and quadriceps, which accounted for kinematics of hip and knee joints.