Lower limb amputee gait during stance phase is related to the angular stiffness of the prosthetic foot, which describes the dependence of ankle torque on angular progression of the shank. However, there is little data on angular stiffness of prosthetic feet, and no method to directly measure it has been described. The objective of this study was to derive and evaluate a method to estimate the angular stiffness of prosthetic feet using a simple linear compression test. Linear vertical compression tests were performed on nine configurations of an experimental multicomponent foot (with known component stiffness properties and geometry), which allowed for parametric adjustment of hindfoot and forefoot stiffness properties and geometries. Each configuration was loaded under displacement control at distinct pylon test angles. Angular stiffness was calculated as a function of the pylon angle, normal force, and center of pressure (COP) rate of change with respect to linear displacement. Population root mean square error (RMSE) between the measured and predicted angular stiffness values for each configuration of the multicomponent foot was calculated to be 4.1 N-m/deg, dominated by a bias of the estimated values above the predicted values of 3.8 ± 1.6 N-m/deg. The best-fit line to estimated values was approximately parallel to the prediction, with R2 = 0.95. This method should be accessible for a variety of laboratories to estimate angular stiffness of experimental and commercially available prosthetic feet with minimal equipment.