Steering control is an important research direction of multi-axle heavy vehicles. A yaw rate synchronisation control strategy is proposed based on the steering dynamic model of multi-axle heavy vehicle. This strategy obeys Ackerman’s law and the yaw rate is controlled by adjusting the steering angle of each rear wheel synchronously to maintain its consistency with the rotation angular speed of the vehicle to help the operator obtain a stable operation experience. This control strategy also solves the limitation of the yaw rate by the traditional zero side-slip angle control strategy and further improves the steering manoeuvrability of multi-axle heavy vehicles. The simulation results show that compared with zero side-slip angle control, the proposed control strategy reduces the backward shift of the vehicle turning centre under the same input conditions, improves the vehicle yaw rate, reduces the turning radius and improves the vehicle turning mobility.