We present kinematics of a sample of 107 DA white dwarfs from the SPY project and discuss kinematic criteria for a distinction of thin disk, thick disk, and halo populations. This is the first homogeneous sample of white dwarfs for which 3D space motions have been determined. Studies of white dwarf kinematics can help determine the fraction of the total mass of our Galaxy contained in the form of thick disk and halo white dwarfs. Radial velocities and spectroscopic distances obtained by the SPY project are combined with our measurements of proper motions to derive 3D space motions. Galactic orbits and further kinematic parameters are computed. Candidates for thick disk and halo members are selected in a first step from the classical U-V-velocity diagram. Our final assignment of population membership is based on orbits and position in the angular-momentum-eccentricity diagram. We find four halo and twelve thick disk white dwarfs.