To provide a compact drive wheel structure for a vehicle having multiple functions.

The drive wheel structure for the vehicle employing a wheel-in-motor structure is equipped with: a wheel mounting member which is rotatably provided on a vehicle body around the wheel rotary shaft; and two independently controllable motors for driving the wheels which are fixed to a vehicle body respectively. The wheel is fixed to a vehicle outside end of the wheel mounting member, and a circular annular gear whose reference surface is orthogonal to the wheel rotary shaft is formed around the wheel rotary shaft on a vehicle inside end of the wheel mounting member. The two motors for driving the wheels are respectively disposed in a circular annular inside of the circular annular gear so that the output shafts of the respective motors are aligned in one direction orthogonal to the wheel rotary shaft on the opposite side across the rotary shaft each other. The drive gears integrally rotating with the output shafts are respectively provided on the respective output shafts of the two motors for driving the wheels, and each of drive gears is engaged with the circular annular gear to form a pair of bevel gear mechanisms.

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