A tailgate assembly for a vehicle includes, among other things, a frame sub-assembly that includes a driver side section, a passenger side section, and a connection member coupling the driver side section to the passenger side section. The assembly further includes a door sub-assembly disposed between the driver side section and the passenger side section. The door sub-assembly and the frame sub-assembly are pivotable together about a first axis between a tailgate closed position and a tailgate open position. The door sub-assembly is pivotable relative to the frame sub-assembly about a second axis between a door closed position and a door open position. The door sub-assembly in the door open position provides a cargo bed access opening that extends vertically downward at least as far as a floor of the cargo bed.