A vehicle speed control system for a vehicle having a plurality of wheels (111, 112, 113, 114), the vehicle speed control system configured to automatically control the speed of the vehicle to a vehicle control speed in dependence on an input target set-speed and comprising: means for receiving a user input of a target set-speed at which the vehicle is intended to travel; means for applying torque to the at least one of the plurality of wheels (111, 112, 113, 114) for propelling the vehicle at the vehicle control speed; and means for controlling the vehicle control speed as a function of at least the instantaneous vehicle speed, wherein the means for applying torque to the at least one of the plurality of wheels for propelling the vehicle at the vehicle control speed includes: means for determining the instantaneous vehicle speed at which the vehicle is travelling; means for comparing the instantaneous vehicle speed with the vehicle control speed and for providing an output indicative of the difference between the instantaneous vehicle speed and the vehicle control speed; and means for evaluating the torque to be applied to at least one of the vehicle wheels in dependence on said output indicative of the difference between the instantaneous vehicle speed and the vehicle control speed, and outputting a torque request signal in dependence thereon, the vehicle control system further comprising a means of reducing the vehicle control speed as a function of the torque request signal. means for receiving a user input of a target set-speed at which the vehicle is intended to travel; means for applying torque to the at least one of the plurality of wheels (111, 112, 113, 114) for propelling the vehicle at the vehicle control speed; and means for controlling the vehicle control speed as a function of at least the instantaneous vehicle speed, wherein the means for applying torque to the at least one of the plurality of wheels for propelling the vehicle at the vehicle control speed includes: means for determining the instantaneous vehicle speed at which the vehicle is travelling; means for comparing the instantaneous vehicle speed with the vehicle control speed and for providing an output indicative of the difference between the instantaneous vehicle speed and the vehicle control speed; and means for evaluating the torque to be applied to at least one of the vehicle wheels in dependence on said output indicative of the difference between the instantaneous vehicle speed and the vehicle control speed, and outputting a torque request signal in dependence thereon, the vehicle control system further comprising a means of reducing the vehicle control speed as a function of the torque request signal. means for determining the instantaneous vehicle speed at which the vehicle is travelling; means for comparing the instantaneous vehicle speed with the vehicle control speed and for providing an output indicative of the difference between the instantaneous vehicle speed and the vehicle control speed; and means for evaluating the torque to be applied to at least one of the vehicle wheels in dependence on said output indicative of the difference between the instantaneous vehicle speed and the vehicle control speed, and outputting a torque request signal in dependence thereon, the vehicle control system further comprising a means of reducing the vehicle control speed as a function of the torque request signal.