The energy recovery of electric vehicle involves motor positive and negative torque switch and zero crossing, and both front and rear axles of dual motor for 4-wheel drive electric vehicle will have zero crossing. Poor torque control will cause driving jitter at zero crossing. In order to optimize the driving jitter caused by double motor zero crossing of pure electric 4-wheel-drive vehicle, alternate axle zero crossing control strategy for a 4-wheel-drive vehicleis designed. In this strategy, a torque zero crossing platform is designed for positive and negative switching of motor torque, and the zero-crossing reversing process is controlled, in the meantime, the front and rear motor axles have complementary zero crossing, to reduce the number of zero crossing. Through the subjective and objective evaluation method, it is verified that the scheme can effectively optimize the drivability of electric 4-wheel-drive vehicle when the torque crosses zero.