This article presents a methodology for the definition of vehicle simulator motion cues based on the biomechanical response of the vestibular organs to motion stimuli. The proposed method begins with an extension of the human motion perception model which includes the simulator kinematics. The goal of this procedure is to define the motion cues so that they reproduce vestibular sensor signals matching those of a reference motion, in terms of the Sensor-State vector. This vector is estimated by using dynamic models of the vestibular organs’ biomechanics. A definition of equivalent motion based on properties of these models is introduced. This definition allows for the proposal of a strategy to imitate the vestibular sensor signals. The methodology has been tested in simulation with a 3-dof planar motion simulator, resulting in satisfactory results. Finally, the potential of the proposed methodology is discussed.