Apparatus and a corresponding method for controlling the attitude of a space vehicle during operation of its propulsion engines, without gimbaling of the engines. Two engines are differentially throttled, one above and one below a nominal thrust setting of the engines, in response to an error signal indicative of the difference between an actual attitude angle and a desired attitude angle. Three or four engines can be used to control attitude about two orthogonal axes, or a greater number of engines can be used for redundancy.