An all-terrain vehicle includes a frame, a transmission, an axle support, a driving shaft and a rear suspension assembly. The transmission is mounted on the frame. The driving shaft is coupled between the transmission and the axle support. The rear suspension assembly includes left and right rear suspension subassemblies symmetrically arranged at left and right sides of the frame. Each of the left and right rear suspension subassemblies includes an upper control min and a lower control arm, the upper control arm has a first end pivotally coupled to the frame and a second end pivotally coupled to the axle support, the lower control arm has a first end pivotally coupled to the frame and a second end pivotally coupled to the axle support, and a junction of the first end of the upper control arm and the frame is located behind the driving shaft.