Modeling, simulation analysis of vertical and lateral dynamics of an electric vehicle driven by two rear hub-motors are presented. An eleven-DOF model of the electric vehicle and the road surface input model are all established. A PID controller is used to adjust yaw rate to the desired one when slip ratio of the driving wheels is less than peak slip ratio. Simulation is performed considering inputs of steering angle of the front wheels, acceleration pedal and road inputs to four wheels. Simulation results show that yaw rate and trajectory are improved when steering input is applied. The proposed controller can provide reference to development of electric vehicles with hub-motors.