An electronic stability control system for vehicle comprising a plurality of wheels (1, 2) including at least a pair of left and right drive wheels, wherein the vehicle has motors for individually driving the pair of left and right drive wheels (1, 2), respectively, a detection device configured to detect at least one predetermined vehicle behavior, and friction brakes each configured to apply a frictional braking force to the respective one of the plurality of drive wheels (1, 2), and the electronic stability control system comprises: a stability determination module configured to obtain information indicating the vehicle behavior from the detection device, and to determine whether or not the vehicle is in an unstable state or in a less stable state before the unstable state is reached, on the basis of the obtained information indicating the vehicle behavior; and a braking/driving force control module configured to, when the stability determination module determines that the vehicle is in the unstable state or in the less stable state, apply, to one drive wheel of the pair of left and right drive wheels (1,2), a braking force using one of or both a regenerative brake of the motor associated with the one drive wheel and the friction brake associated with the one drive wheel, and simultaneously apply a driving force to the motor for the other drive wheel, wherein the pair of left and right drive wheels include a pair of left and right rear drive wheels of the plurality of wheels, the determination by the stability determination module as to whether or not the vehicle is in the unstable state or in the less stable state includes determination as to whether or not the vehicle is in an understeer state, and when the stability determination module determines that the vehicle is in the understeer state, the braking/driving force control module applies a braking force to a cornering inner wheel on a curved travel path, of the pair of left and right rear drive wheels, and simultaneously applies a driving force to a cornering outer wheel on the curved travel path, of the pair of left and right rear drive wheels. motors for individually driving the pair of left and right drive wheels (1, 2), respectively, a detection device configured to detect at least one predetermined vehicle behavior, and friction brakes each configured to apply a frictional braking force to the respective one of the plurality of drive wheels (1, 2), and a stability determination module configured to obtain information indicating the vehicle behavior from the detection device, and to determine whether or not the vehicle is in an unstable state or in a less stable state before the unstable state is reached, on the basis of the obtained information indicating the vehicle behavior; and a braking/driving force control module configured to, when the stability determination module determines that the vehicle is in the unstable state or in the less stable state, apply, to one drive wheel of the pair of left and right drive wheels (1,2), a braking force using one of or both a regenerative brake of the motor associated with the one drive wheel and the friction brake associated with the one drive wheel, and simultaneously apply a driving force to the motor for the other drive wheel, wherein