This study investigated the influence of simulated visual impairments on lower limb coordination strategies during gap-crossing tasks. Fifteen participants with normal or corrected vision performed gap-crossing movements between platforms of varying heights (0 cm, +15 cm, and −15 cm) with a 10 cm gap under four simulated visual conditions: normal vision, 10° tunnel vision, 5° tunnel vision, and 5° tunnel vision with 0.04 occlusion. Three-dimensional motion capture data were collected, and joint angles were computed for the hip, knee, and ankle during the leading foot’s trajectory. Results showed distinctive lower-limb joint motion patterns for the 0 cm and −15 cm gap conditions. As visual constraints increased, participants exhibited greater knee flexion and ankle plantar flexion during the maximum toe clearance phase, potentially serving as an exploratory gap-avoidance strategy. For the +15 cm raised platform, joint coordination was consistently employed to achieve the requisite foot clearance, irrespective of the vision status. These findings suggest that visual constraints necessitate adaptive lower-limb coordination strategies for gap crossing, highlighting the need for personalized interventions to aid individuals with progressive vision loss in navigating complex environments.