The walk is a gait with four beats. It does not have a moment of suspension and it averages 4 mph.
The trot has two beats, averages 6 mph and has a moment of suspension. The legs move in diagonal pairs.
1st Beat: Left Fore Leg/Right Hind Leg
2nd Beat: Right Fore Leg/Left Hind Leg
The canter is a gait with three beats. It averages 8 mph and has a moment of suspension. A western canter is called a lope.
Right Lead Canter
Left Lead Canter
The gallop has four beats, averages 15 mph and has a moment of suspension. A hand gallop isn’t actually a gallop, but a faster canter.