A wheel bearing device includes a wheel bearing supported by a knuckle; a hub ring having a boss portion; a second constant-velocity joint; and a first constant-velocity joint. The second constant-velocity joint includes an outer ring rotatably supported by the wheel bearing, and an inner ring coupled to the boss portion of the hub ring. The first constant-velocity joint includes an outer ring coupled to the outer race of the second constant-velocity joint, and an inner ring coupled to a drive shaft. The knuckle supports a pair of camber angle-adjusting linear motion actuators, and a pair of toe angle-adjusting linear motion actuators.