A seven degrees of freedom (DOF) mathematical model of a three wheeled vehicle (TW V) with one front wheel and two rear wheels is developed using MATLAB software. The model consists of different subsystems i.e. Wheels system, longitudinal and lateral dynamics and suspension system. The dynamic model is simulated and validated for circular and impulse input test. A permanent magnet synchronous in-wheel motor called hub motor model is developed and integrated with TWV to develop three wheeled hub motor vehicle (TWHV) for simulating the effect of hub motor on vehicle stability. PID controller developed to control the vehicle speed with Hub motor. The TWHV model with PID controller is helpful for developing controller algorithms to enhance handling characteristics and to develop three wheeled electric vehicles with hub-motors. © 2017 IEEE.