The aim of this study was to compare the kinematics of reaching tasks at different speeds between children with neonatal brachial plexus palsy (NBPP) and unaffected controls. This cross-sectional study included thirteen children with NBPP (10 ± 2 years old, of which six had upper Erb's palsy and seven had extended Erb's palsy) matched for age and sex with thirteen unaffected controls. Kinematic data were acquired using a Motion Monitor unit with a 3D motion tracking electromagnetic system (Liberty, Polhemus). Scapular, upper limb, and head were recorded during forward reaching tasks (hand on overhead ball and hand to head) and a backward reaching task (hand on the back pocket). The study revealed reduced shoulder flexion and extension in children with NBPP during hand on ball and on the back pocket tasks compared to unaffected controls. Limited elbow flexion was also observed in children with NBPP during the hand on ball and hand on the head tasks. During the hand to head task, children with NBPP presented increased head flexion compared to unaffected controls. Scapular kinematics analysis showed increased posterior tilt in children with NBPP during forward reaching (the hand on ball and hand to head tasks). In the backward reaching task (hand on the back pocket), the NBPP group exhibited reduced scapular external rotation compared to unaffected controls. These findings indicate distinct kinematics in the scapula, shoulder, elbow, and head during reaching tasks for children with NBPP compared to controls. Furthermore, different execution speeds did not alter the kinematic differences between the groups.