A vehicle axle suspension system including wheel support members for rotatably supporting road wheels, a suspension member for supporting the road wheel support members for vertical swinging movement, and elastic suspension elements. The elastic suspension elements include a pair of front elastic suspension elements provided at different suspension points in front of the road wheel support members for elastically mounting the suspension member to the vehicle and a pair of rear elastic suspension elements provided at different suspension points behind the road wheel support members for elastically mounting the suspension member to the vehicle. The elastic suspension elements are positioned to provide an understeer characteristic when a lateral force acts on a suspension roll center determined by suspension geometry to rotate the suspension member around a virtual roll axis extending through an elastic center of the front elastic suspension elements and an elastic center of the rear elastic suspension elements.