The yaw rate, being the essential vehicle dynamics control variable, can be estimated based on the non-driven wheel speed measurement. The yaw rate estimate can be used for the gyroscope fault detection or can be integrated with other kinematic estimators utilizing a sensor fusion concept. However, the estimation accuracy is substantially reduced during braking maneuvers. Static and dynamic changes of effective tire radius affect the estimation accuracy, as well. This paper presents a detailed analysis of the yaw rate estimation errors caused by braking forces, various sources of effective tire radius variations, and combined-slip tire dynamics. Compensation measures aimed to increase the estimation accuracy including a sensor fusion application are also discussed.