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In order to solve the problem of vehicle state estimation, an unscented Kalman filter state parameter estimator based on the Ant lion algorithm is proposed. Aiming at the uncertainty of the noise covariance matrix in the unscented Kalman filter (UKF) process, the Ant lion optimization algorithm (ALO) is used to optimize it. Based on the purpose, a 3-DOF nonlinear vehicle estimation model with Magic formula tire model was established firstly. Then the slalom road operating condition was simulated. The simulation results show that the estimated values of the key state variables are in better agreement with the virtual test values indicating the proposed algorithm having a good estimation performance. And also, compared with the estimation results of the UKF algorithm, the maximum error and the root mean square error of the estimation algorithm proposed in this paper are both smaller than the estimated value of the UKF algorithm. The results of a real-vehicle experiment demonstrate that the proposed method can be used effectively and accurately for solving the vehicle-state estimation problem. The study can provide precise status information for vehicle stability control under extreme conditions.