Vehicle active front steering (AFS) control based on extended state observer (ESO) and nonsingular terminal sliding mode(NTSM) control is proposed. First, a two degree of freedom (2-DOF) vehicle model is introduced in order to calculate the desired yaw rate. Then, ESO and NTSM controller are designed based on 2-DOF. The ESO can estimate the vehicle state and disturbance. The NTSM controller can compensate the disturbance and output a control. Finally,ESO and NTSM controller are established in Matlab/Simlink, and CarSim the nonlinear vehicle model is controlled to simulate. Closed-loop control performance and robustness of NTSM and PID controller are studied. The test results of two kinds of controller are compared. The results show that the NTSM control of vehicle AFS system can effectively improve the controllability and stability of vehicle. The controller has strong anti-disturbance ability, good tracking performance and robustness, which is better than PID controller.