Apparatus and method for determining the alignment positions and orientations of vehicle wheels includes optical targets mounted on the wheels. A pair of cameras or other image sensing devices on each side of the vehicle are used to obtain images of the various optical targets and a computer is responsive to the images of the targets to determine values of wheel alignment parameters of the vehicle. The surface on which the wheels are disposed may be an automotive lift or a stationary runway. One camera on each side is directed at the target on the corresponding front wheel and the other camera on each side is directed at the target on the corresponding rear wheel. When used with a rack, the major axis of the field of view of each camera is disposed vertically. When used with a stationary runway, the major axis of the field of view of each camera is disposed horizontally.