A system for estimating a hitch angle includes a control module with memory for storing programmatic control logic, a processor for executing the control logic, and one or more input/output (I/O) ports. Wheel speed sensors on a trailer communicate with the processor via the I/O ports. A trailering application defines a portion of the control logic and has at least first, and second control logics. The first control logic estimates the hitch angle from a first term, a second term and physical parameters of the vehicle and trailer. The second control logic provides the estimated hitch angle to one or more of a driver and to on-board control systems of the vehicle and trailer.