There are two major lifts in weightlifting competition: the snatch and the clean and jerk. Most studies have focused on the snatch technique using conventional motion capture systems. There is a lack of information on the bilateral comparison of body segment movement during the entire phases of the weightlifting exercises. To our knowledge, no previous studies have directly compared the joint kinematics between the snatch and clean lifts. In this study, we investigated the trunk, shoulder, elbow, hip, and knee joint movements to find a difference between the snatch and clean lifts at each phase using wearable inertial sensors. Seven female Mongolian weightlifters participated. Each participant performed three snatches and three clean lifts at 70% of the one-repetition maximum. The joint angles were calculated using raw data from the inertial measurement unit (IMU) sensors. The main phases of the two techniques were defined based on knee and shoulder angle. The mean joint angle, the joint angle at each phase, and the proportion of the phases were compared between the two techniques. The mean angles of the trunk, shoulder, and elbow movements were significantly different (p < 0.05) while the hip (p = 0.73) and knee movements (p = 0.06) were similar. With detailed statistical analysis at each phase, subtle differences in the joint angles were observed. This study provides a detailed comparative analysis of the joint kinematics between the snatch and clean, which may help to deeply understand the similarities between the two techniques and enable us to best prescribe the appropriate exercises for improving weightlifting performance.