Passive and active limited-slip differentials are used in high-performance cars to optimize the torque distribution on the driving wheels for traction maximization, driving comfort, stability and active safety of the vehicle. In this paper, detailed and reduced dynamic models for the simulation of four kinds of differential are presented. The models refer to the limited-slip steering differential with two clutches. The model of the conventional differential, of the mechanical limited-slip differential and of the controlled limited-slip differential can be obtained by simplification. The detailed model allows the simulation of the internal phenomena that influence the differential dynamics. The reduced model focuses only on the main dynamic behaviour of the differential. Some simulations show the use of the reduced model to compare the effects of the four differentials on the vehicle dynamics.