The extent to which we successfully navigate the environment depends on our ability to continuously track our heading direction and speed. Angular head velocity (AHV) cells, which encode the speed and direction of head turns during navigation, are fundamental to this process, yet the mechanisms that determine their function remain unknown. By performing chronic single-unit recordings in the retrosplenial cortex (RSP) of the mouse and tracking the activity of individual AHV neurons between freely moving and head-restrained conditions, we find that vestibular inputs dominate AHV signalling. In addition, we discover that self-generated optic flow input onto these neurons increases the gain and signal-to-noise ratio of angular velocity coding during free exploration. Psychophysical experiments and neural decoding further reveal that vestibular-visual integration increases the perceptual accuracy of egocentric angular velocity and the fidelity of its representation by RSP ensembles. We propose that while AHV coding is dependent on vestibular input, it also uses vision to maximise navigation accuracy in nocturnal and diurnal environments.