The invention provides a vehicle yaw stability control method based on saturation self-adaption and belongs to the field of vehicle stability control. The problem that saturation of a vehicle yaw stability actuator is not considered in an existing vehicle yaw stability control method, so that the control effect of the existing method is not ideal is solved. The vehicle yaw stability control methodbased on saturation self-adaption includes the steps that a two-freedom-degree vehicle yaw dynamics model in the vehicle turning process is established; a vehicle yaw stability controller based on saturation self-adaption is designed according to the two-freedom-degree vehicle yaw dynamics model; and the direct yaw moment of a vehicle is adjusted through the vehicle yaw stability controller basedon saturation self-adaption, so that the vehicle yaw velocity tracks the reference stead-state value of the vehicle yaw velocity. The vehicle yaw stability control method based on saturation self-adaption is particularly suitable for conducting yaw stability control on the vehicle.