The yaw stability control of 4WID-4WIS vehicle was studied. The coupling relationship between vehicle side slip angle and yaw rate was analyzed. A fuzzy yaw stability controller composed of active front steering (AFS), active rear steering (ARS) and direct yaw moment control (DYC) was designed based on the following strategy—when side slip angle was small, the main aim was to follow the anticipant yaw rate, and when side slip angle was big, the main aim was to reduce vehicle side slip angle. Simulations results indicated that compared with vehicle controlled by DYC, vehicle controlled by AFS+ARS+DYC (RFD) reduced the braking tore and longitudinal slipping rate obviously, which ensured the vehicle yaw stability with high speed on low friction road.