This paper presents an efficient design for a lateral control synthesis of an off-road vehicle. The considered vehicles have two steering axles and are intended to move on a slippery soil with important lateral and longitudinal slopes. The proposed design relies on an extended bicycle model that accounts for the slopes. The lateral control is designed based on a feedforward/feedback architecture. The feedforward takes advantage of the knowledge of the path characteristics (curvature and slopes), and the feedback ensures robust reference-trajectory tracking. Through an H2 /H∞ multi-objective synthesis, the robustness of the lateral controller is ensured with regard to the model uncertainties, path, and soil features. This is important because off-road vehicles’ dynamics are by nature highly variable. To cope with the difficulty caused by uncertain knowledge of key parameters, the proposed robust approach is a practical compromise that maximizes performance under constraints of robustness. The results obtained on a realistic non-linear simulator support this assertion.