A control apparatus for a vehicle includes tire-force sensors, a tire-force estimator, a turning-state detector, and a warning unit. The tire-force sensors are disposed on respective wheels of the vehicle. The tire-force estimator estimates tire forces of the respective wheels on the basis of sensor signals outputted from the respective tire-force sensors. The turning-state detector detects a turning state of the vehicle. The warning unit generates a warning in a mode that differs depending on the turning state when at least one of the wheels is estimated to be in a limit state on the basis of the estimated tire forces.