Abstract: An independent wheel suspension system having a transverse support tube rotatably supported by the side frame members of a vehicle frame to allow relative motion with respect thereto about a first transverse axis, a differential pivotably supported by the transverse tube to allow relative motion therebetween about a second transverse axis, a prop shaft coupled to the vehicle engine by only one universal joint, that joint being of the constant velocity plunging type, a torsion rod pivotably supported by the transverse tube so as to allow longitudinal twisting about a swing axis substantially parallel to the prop shaft axis, and a wheel assembly coupled by an inboard and outboard constant velocity joint to the differential and by a swing arm to the torsion rod, whereby the differential is adapted to move relative to the first transverse axis, the second transverse axis, and the swing axis.