Skid steering has been applied to various electric vehicles and unmanned vehicles because of its advantages in mobility and layout flexibility. This paper proposes an analytical lateral dynamic model of skid steering for a wheeled vehicle that could be applied to its design and control. The model is described by second-order ordinary differential equations in an explicit form. The steady-state characteristics of skid steering for wheeled vehicles are analysed on the basis of differential equations. The results of the steady-state analysis show that the steady-state response of the skid-steered wheeled vehicle is determined by the stability factor. When the vehicle has a neutral steer property, the neutral yaw rate gain is positively related to the velocity difference, and the neutral turning radius is inversely related to the velocity difference rate.