This paper deals with the problem of dynamicmodeling and identification of passenger cars. It presents a new method that is based on robotics techniques for modeling and description of tree-structured multibody systems. This method enables us to systematically obtain the dynamic identification model, which is linear with respect to the dynamic parameters. The estimation of the parameters is carried out using a weighted least squares method. The identification is tested using vehicle dynamics simulation software used by the car manufacturer PSA Peugeot-Citroën in order to define a set of trajectories with good excitation properties and to determine the number of degrees of freedom of the model. The method has then been used to estimate the dynamic parameters of an experimental Peugeot 406, which is equipped with different position, velocity, and force sensors.