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The aim of this study was to explore if turn duration and the performance of step parameters during segments of the Timed Up and Go (TUG) test with and without cognitive dual-tasking (TUGdt) can discriminate between individuals with different cognitive ability. Participants were divided into groups (dementia = 57, mild cognitive impairment = 126, subjective cognitive impairment = 71, and controls = 50) and performed TUG and TUGdt (naming animals and reciting months in reverse order, respectively). Turn duration and forward and return walk (step parameters) were compared between adjacent groups for all conditions. Results were analyzed with logistic regression models, presented with standardized odds ratios, and generally showed longer turn duration during TUGdt for groups with lower levels of cognitive ability, whereas a small tendency was observed for step length/body height. While these results need to be confirmed, they may indicate the potential of assessing TUG segments, particularly turn duration, to identify risk of cognitive impairment. Trial registration number: NCT05893524.