The trajectory tracking of wheeled mobile robots with skidding and slipping disturbance was studied. Firstly, based on the kinematics model of the robot, an auxiliary kinematic controller was designed to make the auxiliary speed of the robot asymptotically converge to desired speed. Then based on dynamics model, a first-order Linear Active Disturbance Rejection Control (LADRC) was proposed by using back stepping technique, an Extended State Observer (ESO) was used to estimate and compensate for the skidding and slipping disturbance during operation, so that the actual speed of the robot converged to auxiliary speed, which could make the trajectory error to asymptotically converge to zero. The effectiveness of the proposed approach to reject skidding and slipping disturbance of wheeled mobile robot was verified by simulation and experiment.