As chronic diseases and demographic changes alter the trends in world population, more pressure is put on health management to deal efficiently with a new scenario of longer life expectancy and chronic disabilities. Advances in telecommunication technology and miniaturization of sensors in combination with medical information technology provide a viable solution to reduce healthcare costs and deliver remote medical services through connected devices. Although remote consultation via video-conferencing has been well established, many of the chronic or long-term musculoskeletal conditions require pro-active management and therapy. There is a need to develop more advanced interactive telerehabilitation systems that support real-time remote delivery of physical therapy sessions into patients’ homes. In this paper, we introduce KinectRTC, an innovative framework that can be used for Kinect-based telerehabilitation with efficient real-time transmission of video, audio, depth, and skeletal data. By taking advantage of the Web Real-Time Communication (WebRTC) technology, the proposed framework is able to manage video and audio streams based on the state of the network and the available bandwidth to guarantee the real-time performance of the communication. •A real time communication framework based on Kinect and WebRTC is proposed.•It allows to stream audio, video, depth frames and arbitrary binary data.•It adapts data streaming to the state of the network ensuring real-time communication.•Tests show that the streaming is stable and reliable in different situations.