Please excuse the late reply to this question ..
.. but as I have made a video previously of the jack russell hop, and when I searched it this forum thread came up in the search results, I thought it was useful to show people who didn't know about it, and actual example.
CHOPS the funny jack russell dog HOP & Skip on his rear legs - Australia. - YouTube
I am a pro dog walker, and many of the jack russells (crosses) I have walked have had such a characteristic, though none as pronounced as this dog.
This dog is quite an anxious dog, and I am not sure if that feeds into its walking style. But I agree, their is no obvious pain or lameness in this dog either.
Cute or a medical condition, it seems the jury is still out. Cheers B