To control a motion of a vehicle correctly by detecting a steering angle accurately by a steering angle sensor even in a situation where the vehicle is not in a steady linear driving condition, without requiring a means for storing the steering angle when an ignition switch is turned off.

The motion control device of a vehicle using a steering angle detected by a steering angle sensor 34 capable of detecting an absolute rotational angle, includes a yaw rate sensor 36 that calculates a plurality of target yaw rates γt based on a plurality of steering angles that are estimated by the steering angle detected by the sensor, controls a motion of the vehicle based on the smallest deviation among deviations Δγ between the respective target yaw rates γt and an actual yaw rate γ, determines a reference rotational position of the steering angle sensor based on the steering angle corresponding to the deviation and then calculates a steering angle θ for motion control based on the detected steering angle and the determined reference rotational position.