The objective of the current research is to analyze the attitude dynamics and control of satellite tethered formation flying where the tethered units are modeled as extended rigid bodies. The three inline array system is used and the general formulation of the governing equations of motions of the system is obtained through a Lagrangian approach. In the research, attitude motions of the tethered satellite system are analyzed in the three-dimensional free space system to complement previous works. Centralized and decentralized approaches are applied to the dynamic system to compare the performance for controlling the attitude motion. The State-Dependent Riccati Equation (SDRE) controller is used to regulate the attitude errors. The stability region for the SDRE controlled tethered satellite system is estimated using a numerical method. The results show globally asymptotic stability for the control method.