This paper presents a four-wheel electric vehicle control system. It incorporates a two-level control strategy for stability and optimal torque distribution to improve fuel efficiency and extend the vehicle’s operational range. The control architecture is structured hierarchically, with a higher level responsible for determining yaw moment and traction forces based on the desired vehicle dynamics. At the lower level, a multi-criteria constrained optimization method is employed, considering both vehicle stability and energy consumption. Additionally, this study takes into consideration the vehicle’s operational context, such as the specific Traffic zone, and the adhesion properties of the tires. This ensures a delicate balance between instantaneous power consumption and overall vehicle stability. The control system’s performance is tested and assessed through three distinct scenarios within the Matlab/Simulink environment. The co-simulation involves the nonlinear vehicle model simulation software, Carsim, and the results are comprehensively compared to the literature.