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In this paper, the fault-tolerant control problem of an active suspension in in-wheel motor driven electric vehicles (EVs) is studied. To reduce the dynamic force transmitted to the motor bearing, a dynamic vibration absorber (DVA) is installed on the in-wheel motor axle. The actuator fault and suspension parametric uncertainties are simultaneously considered and a robust H∞ fault-tolerant controller is designed to attenuate the effects caused by actuator fault and external disturbances. To reduce the motor bearing wear, we also take the dynamic force transmitted to the in-wheel motor bearing as a controlled output, besides the traditional performance requirements such as ride comfort, road holding, and actuator limitation. Simulation results under different road conditions show the effectiveness of the proposed control method.