A suspension system connects a wheel support to a vehicle body to confer on the wheel support, relative to the body, a degree of camber freedom and a degree of freedom of vertical deflection of the suspension, which freedoms are independent of one another. The suspension system includes an anti-roll device capable of controlling the roll of the body, the anti-roll device being arranged to influence the camber variation as a function of the difference between the vertical deflection of a wheel relative to that of the opposite wheel on the same axle. The system includes suspension elements whose respective inner ends are connected to a rocker for pivoting movement about respective pivot axes that are fixed spacially relative to the rocker.