A coaxial two-wheel vehicle is provided. The coaxial two-wheel vehicle includes a step plate for a rider to ride on; a vehicle body supporting the step plate to be capable of changing a posture in a roll direction of rotating around a roll axis as the center when a traveling direction is set to the roll axis; and a pair of wheels disposed on the same axis at both sides of the vehicle body in a direction orthogonal to the traveling direction and rotatably supported by the vehicle body. Further, the coaxial two-wheel vehicle includes a pair of wheel drivers driving and rotating the pair of wheels independently and a control lever directly changing a posture of the step plate or indirectly changing the posture through the vehicle body.