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In this paper, we develop a general Lie group framework for analysis of kicking motion in humanoid soccer robots which aims to capture the multidimensional kicking information and hence to study how to develop more powerful and skilful kicking motion for humanoid soccer robots. To maintain dynamic stability while kicking is being performed, the zero-moment point (ZMP) is used to evaluate the performance of the humanoid kick. The proposed Lie-group-formulation-based compensation approach for force/torque sensing from the humanoid ankle has been implemented on, Robo-Erectus, our humanoid soccer robot. Humanoid kicking experiments have been conducted to verify the effectiveness of the proposed approach.