In this study, the configuration of a five-degree-of-freedom vehicle model with four-wheel-independent-controllable suspension (4WICS) is introduced. By taking into account the vertical road and lateral excitations generated from the tire effect, a full-vehicle dynamical model is constructed by space force analysis. The model can be set up using vibrational sensors with the appropriate arrangement for experiments. In this model, on the basis of the kinetic relationships between the locations of the four wheels and the center of the vehicle sprung mass, the ratio relationships of coupling dynamics between one full-vehicle controller and four quarter-vehicle controllers are deduced. Using the introduced dynamical model, we propose the 4WICS control framework on the basis of a hierarchical modeling control method, which consists of a center control layer and four local control layers. The results show that the system responses become rapid and the ride comfort is enhanced. Moreover, owing to the realization of the parallel computation of four local control layers, the vehicle handling properties are improved.