The invention discloses a steering control method for a self-balancing two-wheeled vehicle. The two-wheeled vehicle comprises two separated split frames, a connecting shaft is arranged between the two split frames, and motors and gyroscopes capable of controlling the rotating speed of the motors are arranged in the split frames. The steering control method for the self-balancing two-wheeled vehicle comprises the following steps that firstly, the outer split frame needing to turn is treaded by the foot, and the inner split frame is kept horizontal. According to the split frame in the horizontal state, due to the fact that the gyroscope does not induct changes of the inclination angle, the motor does not rotate, the gyroscope at the bottom of an upper cover pedal inducts the changes of the inclination angle after inclination, signals are output to a circuit board to enable the motor to rotate, and therefore wheels are driven to rotate. Finally, one wheel does not rotate, the other wheel rotates, the two-wheeled vehicle turns and moves with the wheel which does not rotate as the center, the acceleration, speed reduction and turning functions can be achieved through foot treading, and the structure is simple.