This paper is concerned with state and output feedback stabilization of a class of port-Hamiltonian systems with nonholonomic constraints. First we study canonical forms for port-Hamiltonian systems with nonholonomic constraints. Second, we give a new state feedback stabilization method by using non-smooth Hamiltonian functions via generalized canonical transformations. Third. we propose a dynamic output feedback stabilization method without measuring the velocity based on the corresponding state feedback result. Numerical examples demonstrate the effectiveness of the proposed method. (C) 2012 Elsevier Ltd. All rights reserved.