A moving body control system includes a driving velocity detector that detects a driving velocity of a driving device that drives a moving body, a posture state detecting device that detects posture information of the moving body, a posture controller that produces a first driving velocity command for the driving device, based on the posture information and an entered posture information command, a velocity command producer that produces a second driving velocity command for the driving device, by adding the first driving velocity command and the driving velocity, and a velocity controller that controls the driving device, by producing a torque command for the driving device, based on the second driving velocity command and the driving velocity. The velocity controller performs velocity control so that the driving velocity follows the second driving velocity command. The posture controller performs posture control so that the posture information follows the posture information command.