To provide a motion control device of a vehicle that can raise steering stability in a simple structure, by appropriately controlling the motion condition of the vehicle in all lateral acceleration turn area including a small low lateral acceleration turn area where the steering wheel angle is small and a high lateral acceleration turn area where the steering wheel angle is large.

The motion control device of a vehicle includes an ECU (control means) that calculates the target yaw angle speed based on the vehicle speed and the steering wheel angle and controls the motion of the vehicle so that the deviation between the calculated target yaw angle speed and the actual yaw angle speed becomes substantially zero. The ECU controls the motion of the vehicle by using the target yaw angle speed that is proportional to the steering wheel angle in a small lateral acceleration turn area where the steering wheel angle is smaller than the prescribed threshold value, and by using the yaw angle speed as the target yaw angle speed, when the vehicle turns in a regular circle with the maximum lateral acceleration that does not depend on the steering wheel angle in a high lateral acceleration turn area where the steering wheel angle is larger than the threshold value.