A side-slip velocity estimation module for a vehicle stability enhancement control system includes a side-slip acceleration estimation module that estimates a side-slip acceleration of a vehicle. A multiple-order integrator integrates the side-slip acceleration to generate an estimated side-slip velocity of the vehicle. A reset logic module clears an output of the multiple-order integrator when the vehicle experiences a straight-driving condition, when a speed of the vehicle is less than a predetermined speed, and/or when a sensor bias condition occurs. The multiple-order integrator includes at least two accumulators and at least two feedback loops. The estimated side-slip velocity is a weighted sum of outputs of at least one of the at least two accumulators. A sum of the at least two feedback loops offsets the estimated side-slip acceleration.