A large-scale, high-mobility all-terrain vehicle is equipped with at least two articulated front legs and at least two articulated rear legs. Each articulated leg is connected to the vehicle structure about two mutually orthogonal axes to allow a variation of the track width distance between each pair of track assemblies and a variation of the height of the vehicle structure with respect to each track assembly. Each track assembly is connected to the respective leg about a horizontal transverse axis and about a vertical axis, and about a longitudinal axis. The vehicle structure has a front module and a rear module articulated about a longitudinal axis and a driving cabin that can be rotated downwards to allow ample visibility of the ground in front. The track assemblies are connected to the respective articulated legs by quick coupling devices.