A vehicle dynamics control system and a method of controlling vehicle dynamics that includes calculating a tire force to achieve target vehicle force and moment; calculating a longitudinal μ rate that a longitudinal force of each tire is normalized with the size of the tire friction circle of each wheel, representing the maximum tire force at each wheel; calculating a steering angle equalized for right and left wheels based on the longitudinal μ rate of each tire, a lateral force of each tire, and a vertical load of each tire; and controlling vehicle dynamics based on the calculated steering angle.