This paper describes how to extend traditional Sky-hook which is used to isolate the vertical vibration in the chassis, in order to include the pitch vibration and the roll vibration for the stabilization of the semi-active suspension in a full vehicle model. A Magneto-Rheological (MR) damper will be used in the implementation of the system. This damper is modelled using a grey box structure based on a Bouc-Wen model and a Non linear Autoregressive with exogenous variable, (E. Niño et al. 2006). The paper is divided in four parts. The first one concerns with the modelling of the suspension using the model of seven degrees of freedom of a full vehicle model. The second part shows different types of sky-hook used to control the suspension. The third part shows how the classical skyhook theory is extended for controlling the pitch, and the roll. Finally in the fourth part some simulation results are shown.