A system and method for estimating road angles of a road on which a moving body is traveling are disclosed. The road angle estimation system includes: a sensing module adapted to be mounted on the moving body to detect a plurality of pieces of measurement information associated with the moving body; and a calculating module coupled to the sensing module to receive the pieces of measurement information therefrom. The calculating module simultaneously calculates an estimated bank angle and an estimated grade angle on the basis of the pieces of measurement information, a plurality of support parameters, and a plurality of user control parameters.