Active suspension control for vehicles is developed to improve both ride comfort and steering stability which are in trade off relation. In this study, the modal sky-hook controller for 7 D. O. F. model is proposed to resolve the problems such as computaional power restriction and uncertainties in modeling of systems and environments. Modal sky-hook controller reduces the coupling between the modes to be controlled. The simulation result for ride comfort shows that the perform ance of the proposed controller matches that of the optimal controller. Systematic method of determining its gain is proposed. The model sky-hook controller shows the robustness to road irregularity and modeling error.