A method of controlling the attitude of a satellite (1) including two gyrodynes (3,4) and a third main actuator (2) which delivers torques at least along the Z axis. The method includes: fixing the gimbal axes, A1 and A2, of the gyrodynes (3, 4) parallel to Z; setting a non-zero bias (.alpha.) between the angular momentum vectors (Formula I) of the gyrodynes; using the measurements provided by the sensors on board the satellite to estimate the kinematic and dynamic variables necessary in order to control the attitude of the satellite (1); calculating set variables in order to the objectives assigned to the satellite (1) attitude control system; and using the deviations between the estimated variables and the set variables to calculate control orders and to send same to the main actuators (2, 3, 4).