Tire friction model is a key part of the overall multi-body tire dynamics model. The LuGre dynamic tire friction model is analytically linearized for pure cornering conditions. The linearized model parameters are conveniently expressed as functions of static curve slope parameters. The linearized lateral force and self aligning torque sub-models are described by equivalent mechanical system. The linearized model and equivalent system parameters are analyzed for different slip angle and wheel center speed operating points. An example of application of linearized tire friction model to tire vibration analysis is presented as well.