A vehicle control apparatus controlling a driving force or a braking force to be applied to a vehicle and conducting a vehicle control based on wheel speeds includes a detecting means detecting the wheel speed of each wheel provided at the vehicle, a storing means storing a predetermined valid wheel speed for each wheel, a determining means determining whether a difference between the detected wheel speed and a maximum wheel speed of the wheel speeds lies in a predetermined range, and an updating means updating the valid wheel speed based on the detected wheel speed of the wheel, when the detected wheel speed is lower than the predetermined valid wheel speed which is currently stored, in case that a result determined by the determining means is positive.