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In order to improve the endurance mileage and stability of an electric vehicle at the same time, a hierarchical coordinated control method of an in-wheel motor drive electric vehicle based on energy optimization is presented in this paper. The driving architecture of an in-wheel motor drive electric vehicle is developed, and a corresponding simulation model is established in CarSim software; then, the bicycle model of an electric vehicle is derived from vehicle dynamic equations. The energy-saving feasibility of an in-wheel motor drive electric vehicle is analyzed by a motor efficiency map, and on the basis of this, the hierarchical coordinated control method is proposed to achieve the simultaneous energy optimization control and stability control of the electric vehicle. The results show that the energy consumption is decreased by 32.41%, 45.92%, and 4.07% in different simulation manoeuver cases, and the vehicle stability can be ensured by the proposed control method.