Static stability is one of the most important parameters determining the overall stability of agricultural off-road vehicles. When operating on sloped ground, the gravitational force acting on the vehicle’s mass produces an angular deviation from the stable position, which can lead to static overturning. The contact points of the vehicle’s tires define the tipping axes, which represent the boundaries of potential rollover. The mathematical description of static stability is well established for both four-wheel-drive (4WD) and tracked vehicles. In recent years, researchers have focused on the influence of tire elastic properties on static stability. Determining the vehicle’s centre of gravity with acceptable precision is among the most essential techniques in vehicle dynamics research. Various models and methods have been developed, and standardized procedures have been implemented in ISO and other international standards. The importance of mathematical modelling in vehicle dynamics is demonstrated by the large number of computer models and their relevant results. Some models rely solely on mathematical prediction of stability, while others combine analytical techniques with experimental excitation functions obtained from real measurements. These models can be verified and refined through experimental testing. Preparation for experimental measurements requires the setup of appropriate equipment, such as acceleration sensors, power supplies, and data acquisition systems capable of accurate recording. The admissible slope angle for agricultural machinery should be determined by combining results from mathematical models with data obtained from experimental measurements.