The dynamic performance of multi-wheeled off-road vehicles on rigid and soft terrain was developed using multi-body dynamics software and validated against measured data. Non-linear tire look-up tables for rigid and soft terrain obtained from three-dimensional non-linear Finite Element Analysis (FEA) off-road tire models developed using PAMCRASH, were used in the simulation. The predictions of the vehicle handling characteristics and transient response during lane change on rigid road at different vehicle speeds were compared with field tests results. Measured and predicted results are compared on the basis of vehicle steering, yaw rates and accelerations. Published US Army validation criteria have been used to validate simulations. The combat vehicle model was used to study vehicle lanechange maneuverability on rigid and soft terrain at different speeds and powertrain configurations. This comparison showed the importance of having active torque distribution system on soft terrain especially at high speeds.