Soft phonon modes, which are related to the normal-incommensurate phase transition at T i = 294 K and the lowesttemperature phase transition at T 3 = 66 K in Rb 2 CoCl 4 , have been measured by inelastic neutron scattering. For the normal-incommensurate phase transition, phonon dispersion curves have been determined in the low-temperature commensurate phases, and the phase mode has been observed far below T i . The soft mode is fully overdamped above T i . Moreover, another soft phonon mode, which contributes to the phase transition at T 3 , has been observed. Furthermore, the space group of the lowest phase is directly confirmed to be C1c1 by verifying extinction rules of X-ray diffraction. It has been recognized that the ratio of the ionic radius of A + to the average bond length B-X in the tetrahedral BX 4 2¹ ion can control the phase transition sequence. Rb 2 CoCl 4 belongs to the group in which this ratio is in the range from 0.69 to 0.85, and the transition temperature decreases loosely with increasing the lattice parameter ratio c 0 /a 0 , where a 0 and c 0 are the lattice parameters of the normal phase.