A vehicle motion state control device controls an actuator capable of regulating a vehicle motion state so that an actual yaw rate approaches a target yaw rate determined based on a steer angle and a vehicle speed, target yaw rate limit values for left and right turn directions of a vehicle are individually determined by a target yaw rate limit value determining mechanism based on detected lateral acceleration, detected vehicle speed, and predetermined set minimum lateral acceleration set in a direction opposite to that of the detected lateral acceleration; and target yaw rates for the left and right turn directions are determined by a target yaw rate determining mechanism while limiting them by the determined target yaw rate limit values. Thus, an oversteer control is started at an early timing when an abrupt steering operation at a large steer angle occurs which causes a phase difference to the yaw rate and the lateral acceleration.