An ARM11-based vehicle rollover warning system is designed in this paper in order to prevent vehicle rollover occurred while driving. Monitor the vehicle real-time roll angular velocity and roll angle via sensors and Multi-level Recursive Model is used to predict the vehicle roll attitude. When the predicted roll reach to the limit conditions then trigger the alarm to remind driver to be careful and to take appropriate measures, so as to prevent vehicle rollover accidents. Vehicle rollover warning system software is designed based on VB 2005, Matlab and NI Measurement Studio, results between simulation and real vehicle test show that vehicle rollover warning system can predict vehicle rollover timely and accurately, which can improve vehicle active safety.