A planetary gear train of an automatic transmission for a vehicle, the planetary gear train may include an input shaft receiving power from an engine, an output shaft outputting shifted power of the engine, a first planetary gear set including first, second, and third rotating elements, a second planetary gear set including fourth, fifth, and sixth rotating elements, a third planetary gear set including seventh, eighth, and ninth rotating elements, a fourth planetary gear set including tenth, eleventh, and twelfth rotating elements, and six control elements which are disposed at positions where at least one of the rotating elements is selectively connectable with another of the rotating elements or disposed at positions where rotating elements are selectively connectable to a transmission housing.