This paper presents a detailed description of the optimization process used to increase the kicking skills of humanoid players. The kicking movement consists of making a step forward to put the support foot next to the ball to kick, then to execute the kicking motion by rocking the leg that must strike the ball. The rocking motion of the leg passes through three positions; the first position is the leg being raised backward, the second is the leg in position of strike, and the third is the leg forward to sweep the ball. The optimization process is an evolution of skills parameters guided by a evaluation function that aims to send the ball as far as possible. To optimize the kick a rocking motion of the torso is also introduced. The parameters used for each one of the three kicking positions are the angle of the torso, the angle of the foot sole, the longitudinal and the vertical coordinates of the foot toe. Thanks to this technique it is possible to increase the distance of the kicked ball by 34%.