In this paper, a dynamical model of a motorcycle, which consists of four rigid bodies with nine degrees of freedom, is presented. In this model, the cross-sectional shape of the tire is described as a half-circle and its deformation is taken into account. By taking account of the tire slip condition or the tire nonslip condition in the longitudinal direction of the wheels, each equation of motion is derived. Also, by carrying out simulations, it is verified that the responses to the front steering impulsive torque are in good agreement with the results obtained using commercial software. Moreover, the longitudinal friction force and the lateral force in a turning maneuver are analyzed.