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Effective and powerful kicking motion is a key prerequisite for humanoid robots to play robot soccer. However, the kicking motion is a complex motion. This paper presents a kicking motion planning of a humanoid robot that utilizes curve trajectory planning in order to reduce the time and instability of manual adjustment. According to the swing of the kicking foot, the whole kicking motion is divided into 5 states. The trajectory of kicking foot in different states is planned using the B-Spline curve. Then, the proposed method of kicking motion planning is implemented on a homemade humanoid robot. The experiments show the wider range and greater distance of kicking a ball of kicking motion planning.