A generalized theoretical model of tire cornering properties is presented in steady state condition with lateral deflection of tread and complex deformation of carcass under consideration. The model is suitable for full range of vertical load and slip angle. Six parameters are defined to represent the characteristics of tire stiffness, contact pressure distribution and carcass deformation. The model is validated against test data. Some simplified models, e.g. brush model, HSRI model when longitudinal force is zero, Fiala model etc., can be derived as some specific cases of this model. The analytic model provides a sound foundation for semi-empirical expression and gains insight into study of vehicle system dynamics.