Models, simulators and control strategies are required tools for the conception of secure and comfortable vehicles. The aim of this paper is to present an efficient way to develop models for dynamic vehicle, focusing on a two wheeled vehicles whose body involves six degrees of freedom. The resulting model is sufficiently generic to perform simulation of realistic cornering and accelerating behavior in various situations. It may be used in the context of motorcycle modeling, but also in various situations (e.g. for control application) as simplified model for 3 or 4 wheeled (tilting) cars. The approach is based on considering the vehicle as a multi-body poly-articulated system and the modeling is carried out using the robotics formalism based on the modified Denavit-Hartenberg geometric description. In that way, the dynamic model is easy to implement and the system can be used for control applications.