In this paper, the range extension control system based on least square method is proposed for electric vehicles with in-wheel motors and front active steering. This proposed method distributes front and rear wheel side-slip angles and driving force difference between left and right motors from lateral force and yaw-moment. The proposed method enables to reduce driving resistance generated from front steering angle. In fact, the mileage per charge is extended up to 200 m/kWh. Simulations and experiments are carried out to confirm the effectiveness of the proposed method.