This paper presents a velocity-dependent static output-feedback control method to improve the vehicle lateral stability and handling performance. The uncertainties of longitudinal velocity, tire cornering stiffness and actuator saturation are taken into account. Considering the unmeasurable state in practice, a robust gain-scheduling output-feedback H controller is designed based on the measurable velocity. By employing a two-stage heuristic approach, the output-feedback controller gain is obtained based on the state-feedback controller gain, which would be more favorable in application. The simulation results with two steering maneuvers indicate the effectiveness of the proposed method.