A vehicle turning control device for controlling a turning characteristic of a vehicle , the vehicle including braking/driving sources for independently controlling braking/driving torques applied to a plurality of wheels , a vehicle speed detection device for detecting a vehicle speed, and a steering angle detection device for detecting a steering angle, the vehicle turning control device comprising: a target yaw rate calculation module configured to calculate a target yaw rate for the vehicle based on a yaw response characteristic, with respect to the vehicle speed detected by the vehicle speed detection device and the steering angle detected by the steering angle detection device ; a yaw moment calculation module configured to calculate the braking/driving torques developed at the plurality of wheels based on the target yaw rate calculated by the target yaw rate calculation module , so as to calculate a yaw moment predicted to act on the vehicle , characterised by a yaw rate deviation-and/or-road surface friction calculation module including one or both of a yaw rate deviation calculation module configured to calculate a yaw rate deviation, from a difference between the target yaw rate and an actual yaw rate detected by a yaw rate detection device provided to the vehicle , and a road surface frictional coefficient calculation module configured to estimate a road surface frictional coefficient; and a yaw response characteristic changing module configured to cause the yaw response characteristic used in the target yaw rate calculation module so as to approach a reference yaw response characteristic from a predetermined yaw response characteristic different from the reference yaw response characteristic, as the yaw rate deviation calculated by the yaw rate deviation calculation module increases or as the road surface frictional coefficient estimated by the road surface frictional coefficient calculation module decreases. a target yaw rate calculation module configured to calculate a target yaw rate for the vehicle based on a yaw response characteristic, with respect to the vehicle speed detected by the vehicle speed detection device and the steering angle detected by the steering angle detection device ; a yaw moment calculation module configured to calculate the braking/driving torques developed at the plurality of wheels based on the target yaw rate calculated by the target yaw rate calculation module , so as to calculate a yaw moment predicted to act on the vehicle , characterised by a yaw rate deviation-and/or-road surface friction calculation module including one or both of a yaw rate deviation calculation module configured to calculate a yaw rate deviation, from a difference between the target yaw rate and an actual yaw rate detected by a yaw rate detection device provided to the vehicle , and a road surface frictional coefficient calculation module configured to estimate a road surface frictional coefficient; and a yaw response characteristic changing module configured to cause the yaw response characteristic used in the target yaw rate calculation module so as to approach a reference yaw response characteristic from a predetermined yaw response characteristic different from the reference yaw response characteristic, as the yaw rate deviation calculated by the yaw rate deviation calculation module increases or as the road surface frictional coefficient estimated by the road surface frictional coefficient calculation module decreases. <EOS>