Many extended jets of kilo-parsec scale size from Active Galactic Nuclei have been detected by Hubble and Chandra telescopes. IC/CMB model for X-ray emission from six extended jets has been ruled out by radio data from ALMA observations and also the predicted gamma ray flux in this model overshot the Fermi LAT upper limits. We have selected the sources 3C 273, PKS 0637-752, B3 0727+409 and AP Librae for our study. We show the proton synchrotron model may explain the X-ray emission in some cases without violating luminosity constraints. The kiloparsec scale jet could be moving with Doppler factor close to 1 in this scenario unlike the IC/CMB model which requires higher values of Doppler factor to explain the observed emission.