They studied slow motion footage of a runner on a treadmill.
It showed that when the knot in her trainers failed the laces came undone in as few as two strides.
Mechanical engineer Christopher Daily-Diamond from the University of California in Berkeley, said: "This is the first step toward understanding why certain knots are better than others."
The study said there are two ways to tie the common shoelace bow knot.
One holds for longer than the other, though it is not known why, but both fail the same way.
Prof Oliver O'Reilly, whose lab conducted the research, said: "We still don't understand why there is a fundamental mechanical difference between those knots."
Researchers found tightly-tied laces need more cycles of impact and leg swinging to fail than normal in a day.
This is why laces don't always come undone.