The invention belongs to the field of electric vehicles, and particularly relates to an integrated chassis control method of a four-wheel drive electric vehicle. The method comprises the following steps: utilizing a distributed driving electric vehicle kinetic model, namely a fourteen-degree-of-freedom vehicle control model, a UniTire tire model, a motor control model and a driver model, designinga vehicle state and parameter online estimation system, a side slip angle observer, a stability judgment system, an integrated coordination chassis control model, model prediction control and a multi-step center correction interior point optimization algorithm considering constraints; by analyzing the two-degree-of-freedom vehicle model, obtaining an off-line optimization system of a reference state trajectory and expected control variable. In the invention, two control methods of active front wheel steering and direct yawing moment control are combined, and the control stability of the vehicle is improved by optimizing the chassis control structure of the vehicle, reasonably designing an integrated chassis control algorithm and optimizing moment distribution of a dispatching motor.