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Lateral dynamic control considered to be crucial to enhance the handling characteristics and stabilization of a vehicle as a safety demand. In this paper, active rear axles steering control system will be developed using an optimal quadratic regulator (LQR) control methodology. The controller aims to minimize the vehicle side slip and consequently increase its handling stability and transient state performance. The controller design has been utilized the independent steering of the vehicle’s 3rd and 4th axles as control inputs. Furthermore, the developed controller will be combined with a feedforward zero side slip (ZSS) controller based on the steady-state model of the vehicle and satisfying the Ackermann steering condition. In addition, the steady-state handling performance will be evaluated using the Skid Pad test.