To provide a vehicle body slip angle estimation method preventing vehicle body slip angle differential value and the vehicle body slip angle from diverging.

The vehicle body slip angle estimation method estimates the slip angle of the vehicle which is the angle formed by the advancing direction of the vehicle and the longitudinal axis of the vehicle by regressively using the immediately preceding estimated vehicle body slip angle when calculating the current estimated vehicle body slip angle based on a dynamic model of the vehicle. The vehicle body slip angle estimation method is composed of the step detecting the vehicle body speed, the step determining whether or not the vehicle body speed is not larger than the regulation speed, and the step preventing the estimated vehicle body slip angle from diverging by forcibly making the current estimated vehicle body slip angle zero when the vehicle body speed is not larger than the regulation speed.