This paper investigated drivers’ perception during situations of loss of adherence (LOA) in static and dynamic driving simulators. The intensity and duration of the LOA were manipulated. Results show that drivers were able to correctly discriminate the different conditions of LOA in both simulators. They also highlight the importance of nonvisual information, with steering wheel haptic cues predominating for the static simulator and both the steering wheel and motion platform predominating for the dynamic simulator. This study is a first step in developing an evaluation method for electronic stability control (ESC) handling in high-performance simulator experiments.