As tractors have played an important role in improving agricultural productivity, enhancing the efficiency of tractor has become of interest in recent years. In this study, a design of self-tuning fuzzy PID tracking control for a tractor is proposed. The steering control is performed on the front wheels, whereas the tractor is rear-wheel drive. Efficiency of the proposed self-tuning fuzzy PID controllers is compared to the results from the conventional PID controller testing at different trajectory scenarios under the specified accuracy of GPS and acceleration of the tractor. The experimental results show that the proposed self-tuning control exhibits better performance than the conventional PID technique in terms of the fast response of the steering wheels, and the small distance and heading angle errors.