This article addresses designing an implementable control law for spacecraft attitude manoeuvre using a combination of torque generating devices such as reaction wheels (RWs), magnetic torquers (MTs) and control moment gyros (CMGs). A compact equation of motion of a spacecraft installed with the torquers is derived. The singularity problem of CMGs is investigated by using a simple and practical virtual actuator methodology proposed in this article. A mixed control law is established for fine attitude control of an agile spacecraft manoeuvre. The control law allocates control torque to CMGs and RWs adequately to satisfy the control purpose. In the control torque allocation, the saturation problem of RWs is also addressed. Furthermore, a strategy for momentum restoration of CMGs by MTs to avoid singularity is suggested.