Abstract In this paper, arbitrary rest-to-rest attitude maneuver problems for a satellite using two single-gimbal control moment gyros (2SGCMGs) are considered. Although single-gimbal control moment gyros are configured in the same manner as the traditional pyramid-array CMG, only two CMGs are assumed to be available. Attitude maneuver problems are similar to problems involving two reaction wheels (RWs) from the viewpoint of the number of actuators. In other words, the problem treated herein is a kind of underactuated problem. Although 2SGCMGs can generate torques around all axes, they cannot generate torques around each axis independently. Therefore, control methods designed for a satellite using two reaction wheels cannot be applied to three-axis attitude maneuver problems for a satellite using 2SGCMGs. In this paper, for simplicity, maneuvers around the x - and z -axes are first considered, and then a maneuver around the y -axis due to the corning effect resulting from the maneuver around the x - and z -axes is considered. Since maneuvers around each axis are established by the proposed method, arbitrary attitude maneuvers can be achieved using 2SGCMGs. In addition, the maneuvering angles around the z - and x -axes, which are required in order to maneuver around the y -axis, are analytically determined, and the total time required for maneuvering around the y -axis is then analyzed numerically.