Background: Exercise therapy is a core intervention for knee osteoarthritis (KOA). For KOA patients, active and passive stretching exercises can relieve joint pain and restore joint function. Heel kicking exercise (HKE) is a dynamic stretching method designed by the authors to rapidly reduce knee pain and restore joint function in patients with KOA. This randomized controlled trial was conducted to determine the efficacy of HKE for pain and joint function in patients with KOA. Method: A total of 68 patients with KOA were included in this study. Eight patients were excluded, resulting in random allocation into a control group (N = 29, 1 lost to follow-up) and an observation group (N = 30). Both groups received traditional Chinese medicine hot compress therapy, oral administration of celecoxib capsules, and quadriceps contraction exercises. The control group additionally performed static stretching exercises targeting the quadriceps, hamstrings, and gastrocnemius muscles; conversely, the observation group performed in HKE. Changes in Western Ontario and McMaster Universities Osteoarthritis Index pain and stiffness indices, knee joint range of motion, Five-Times-Sit-to-Stand Test, Timed Up and Go Test, and Six-Minute Walk Test were assessed before treatment initiation and after 2 weeks. Results: Before treatment, there were no significant differences in the Western Ontario and McMaster Universities Osteoarthritis Index pain and stiffness score, joint range of motion, Five-Times-Sit-to-Stand Test, Timed Up and Go Test, and Six-Minute Walk Test levels between the 2 groups (P > .05). After treatment, the observation group outperformed the control group across all indicators (P < .05, P < .01). Patients' satisfaction within 2 groups were investigated, which showed that patients' satisfaction within the observation group were better than those in the control group (P < .01). Conclusions: HKE is an effective and safe exercise therapy that significantly alleviates knee pain in patients with KOA while restoring joint function.