A method for control of regenerative braking in a vehicle being provided with: a front axle and a rear axle being provided with front wheels (2, 3) and rear wheels (4, 5); an internal combustion engine; an electric motor; and a control unit for controlling the operation of the electric motor to selectively be operated either for propelling the rear axle or for braking the rear axle in a regenerative manner; said method comprises the steps of: estimating a value of the maximum level of braking force being applied to said rear axle by estimating values of the tire/road friction, the level of steering, the vehicle speed and the requested braking torque, to provide an initial "a priori" estimation of the maximum level of brake torque which can be applied on the rear axle without loss of traction; decreasing the braking torque being applied on said rear axle if said tire/road friction decrease, or if said level of steering increases, or if said vehicle speed increases, or if said requested braking torque increases; wherein the braking torque applied to the rear axle is decreased to a value corresponding to a maximum level of braking torque, however without losing traction of said vehicle; increasing the rear axle braking torque to an extremum value in proportion to the slope of the friction curve of the wheels of said rear axle, to achieve a maximization the regenerative level within set safety limits; determining a value of the wheel slip (λmeas) of each of said rear wheels (4, 5); determining whether the difference between the wheel slip value (λmeas) of any of said wheels (4, 5) and a desired wheel slip (λref) exceeds a predetermined limit value; and, if this occurs, gradually shifting the brake force applied to the vehicle from the rear axle to the front axle. a front axle and a rear axle being provided with front wheels (2, 3) and rear wheels (4, 5); an internal combustion engine; an electric motor; and a control unit for controlling the operation of the electric motor to selectively be operated either for propelling the rear axle or for braking the rear axle in a regenerative manner; estimating a value of the maximum level of braking force being applied to said rear axle by estimating values of the tire/road friction, the level of steering, the vehicle speed and the requested braking torque, to provide an initial "a priori" estimation of the maximum level of brake torque which can be applied on the rear axle without loss of traction; decreasing the braking torque being applied on said rear axle if said tire/road friction decrease, or if said level of steering increases, or if said vehicle speed increases, or if said requested braking torque increases; wherein the braking torque applied to the rear axle is decreased to a value corresponding to a maximum level of braking torque, however without losing traction of said vehicle; increasing the rear axle braking torque to an extremum value in proportion to the slope of the friction curve of the wheels of said rear axle, to achieve a maximization the regenerative level within set safety limits; determining a value of the wheel slip (λmeas) of each of said rear wheels (4, 5); determining whether the difference between the wheel slip value (λmeas) of any of said wheels (4, 5) and a desired wheel slip (λref) exceeds a predetermined limit value; and, if this occurs, gradually shifting the brake force applied to the vehicle from the rear axle to the front axle.