A planetary gear train of automatic transmission may comprise an input shaft, an output shaft, first, second, third, and fourth planetary gear sets having first to twelfth rotating element, and six control elements disposed between one of the rotating elements and another or the input shaft, between one of the rotating elements and the output shaft, or between one of the rotating elements and a transmission housing, wherein the input shaft is directly connected with the third rotating element, the output shaft is connected with the eleventh rotating element continuously, the second rotating element is directly connected with the eleventh rotating element, the third rotating element is directly connected with the fourth rotating element, the fifth rotating element is directly connected with the ninth rotating element, the sixth rotating element is directly connected with the tenth rotating element, and the seventh rotating element is selectively connected with the transmission housing.