A method to control the execution of an upshift with a released accelerator pedal of a vehicle in a drivetrain of the vehicle provided with a dual-clutch, servo-assisted transmission, so as to upshift from a current gear to a following gear, which is higher than the current gear; the drivetrain comprises a dual-clutch, servo-assisted transmission having two primary shafts; at least one secondary shaft connected to drive wheels; and two clutches (16A, 16B), each interposed between a drive shaft of an internal combustion engine and a corresponding primary shaft; the control method comprises the steps of: opening, in a first instant (t 1), an outgoing clutch associated with the current gear; closing, in the first instant (t 1), an incoming clutch associated with the following gear; synchronizing, between a second instant (t 2), which is subsequent to the first instant (t 1), and a third instant (t 4), which is subsequent to the second instant (t 2), a rotation speed (ω E) of the internal combustion engine with a rotation speed (ω B) of the incoming clutch, namely with the rotation speed (ω B) imposed by the gear ratio of the following gear; completely opening, in the third instant (t 4), the outgoing clutch; and completely closing, in the third instant (t 4), the incoming clutch; the control method is characterized in that it comprises the further step of: keeping the torque (T A) transmitted by the outgoing clutch constant between the second instant (t 2) and a fourth instant (t 3), which is subsequent to the second instant (t 2) and prior to the third instant (t 4); and keeping the torque (T B) transmitted by the incoming clutch constant between the second instant (t 2) and the fourth instant (t 3). the drivetrain comprises a dual-clutch, servo-assisted transmission having two primary shafts; at least one secondary shaft connected to drive wheels; and two clutches (16A, 16B), each interposed between a drive shaft of an internal combustion engine and a corresponding primary shaft; the control method comprises the steps of: opening, in a first instant (t 1), an outgoing clutch associated with the current gear; closing, in the first instant (t 1), an incoming clutch associated with the following gear; synchronizing, between a second instant (t 2), which is subsequent to the first instant (t 1), and a third instant (t 4), which is subsequent to the second instant (t 2), a rotation speed (ω E) of the internal combustion engine with a rotation speed (ω B) of the incoming clutch, namely with the rotation speed (ω B) imposed by the gear ratio of the following gear; completely opening, in the third instant (t 4), the outgoing clutch; and completely closing, in the third instant (t 4), the incoming clutch; opening, in a first instant (t 1), an outgoing clutch associated with the current gear; closing, in the first instant (t 1), an incoming clutch associated with the following gear; synchronizing, between a second instant (t 2), which is subsequent to the first instant (t 1), and a third instant (t 4), which is subsequent to the second instant (t 2), a rotation speed (ω E) of the internal combustion engine with a rotation speed (ω B) of the incoming clutch, namely with the rotation speed (ω B) imposed by the gear ratio of the following gear; completely opening, in the third instant (t 4), the outgoing clutch; and completely closing, in the third instant (t 4), the incoming clutch; the control method is characterized in that it comprises the further step of: keeping the torque (T A) transmitted by the outgoing clutch constant between the second instant (t 2) and a fourth instant (t 3), which is subsequent to the second instant (t 2) and prior to the third instant (t 4); and keeping the torque (T B) transmitted by the incoming clutch constant between the second instant (t 2) and the fourth instant (t 3). keeping the torque (T A) transmitted by the outgoing clutch constant between the second instant (t 2) and a fourth instant (t 3), which is subsequent to the second instant (t 2) and prior to the third instant (t 4); and keeping the torque (T B) transmitted by the incoming clutch constant between the second instant (t 2) and the fourth instant (t 3).