Tire modeling is an important aspect of vehicle dynamics as the forces and moments required to control the vehicle's motion are eventually transmitted through the tire and the tire road interface is also an important source for the dynamic excitation of the vehicle. This paper presents a fuzzy logic based approach for estimating tire forces, aligning moment of tire for the different slip ratio and slip angles. Proposed fuzzy logic approach requires slip angle and slip ratio, as the input variables, and estimates the longitudinal force, lateral force, aligning moment as the output variables. Membership functions of input, output variables and fuzzy rules are formulated based on the values obtained using the widely adopted Magic formula for tire model. Simulation values for longitudinal, lateral forces and aligning moment of the tire using the proposed fuzzy model is found to provide good correlation with the magic model. Proposed fuzzy logic frame work does not require the estimation of model parameters used in the Magic formula and it will be useful in developing vehicle control system.