Ride comfort and vehicle stability are primary objectives in vehicle suspension research. Numerous control approaches have been tested to better suspension performance, and fuzzy control has become a strong alternative. Even though, numerous fuzzy techniques have been reported, there exists a lack of work on semi-active suspensions that include accurate actuator dynamics. In addition, the present research proposes a fuzzy approach with few rules in the controller's decision engine, and singleton-like output fuzzy sets to reduce the computational time to generate the control signal. Two trial and error tuned fuzzy controllers are addressed for a new two-degrees-of-freedom one-quarter-vehicle semi-active suspension model with a magnetorheological damper. MATLAB simulation results compare comfort and stability of an average city car with a passive suspension versus an hybrid suspension,  and the proposed fuzzy controllers developed herein. The semi-active suspension with fuzzy control improves the hybrid control results. Although the fuzzy controllers tuning, and the characteristics are not complex, the obtained results are outstanding. The fuzzy control alternative is simple and effective.