Method for estimating a mass (m) of an off-road vehicle comprising: acquiring (30, 40) detection signals (S 1,a -S 4,a, S 1,b -S 4,b) from a plurality of sensors (14, 14A-14D), the detection signals being indicative of a velocity (v a, v b), a slope angle (α a, α b) and engine quantities (M eng,a, ω eng,a, M eng,b, ω eng,b), the velocity, the slope angle and the engine quantities being measured during the movement of the off-road vehicle; processing (32, 42) the detection signals to determine derived quantities (E eng, E losses, E k, E p) comprising processing the engine quantities to obtain a first value of a first power quantity (P eng,a); and processing the velocity and the slope angle to obtain a first value of the second power quantity (P losses,a); processing (34, 44-48) the derived quantities comprising verifying whether the first value of the first power quantity (P eng,a) satisfies a first condition and comparing the first value of the first power quantity with a threshold power quantity (P lim); verifying that the first value of the first power quantity is greater than or equal to the threshold power quantity (P lim); and repeating the steps of: acquiring the detection signals (S 1,a -S 4,a); processing the engine quantities to obtain the first value of a first power quantity (P eng,a); processing the velocity and the slope angle to obtain the first value of the second power quantity (P losses, a); comparing the first value of the first power quantity with the threshold power quantity (P lim); and verifying that the first value of the first power quantity is greater than or equal to the threshold power quantity (P lim), until the first value of the first power quantity is greater than or equal to the threshold power quantity; determining the mass of the off-road vehicle from the derived quantities; and storing the mass of the off-road vehicle in a memory, wherein the derived quantities are energy quantities (E eng, E losses, E k, E p). acquiring (30, 40) detection signals (S 1,a -S 4,a, S 1,b -S 4,b) from a plurality of sensors (14, 14A-14D), the detection signals being indicative of a velocity (v a, v b), a slope angle (α a, α b) and engine quantities (M eng,a, ω eng,a, M eng,b, ω eng,b), the velocity, the slope angle and the engine quantities being measured during the movement of the off-road vehicle; processing (32, 42) the detection signals to determine derived quantities (E eng, E losses, E k, E p) comprising processing the engine quantities to obtain a first value of a first power quantity (P eng,a); and processing the velocity and the slope angle to obtain a first value of the second power quantity (P losses,a); processing (34, 44-48) the derived quantities comprising verifying whether the first value of the first power quantity (P eng,a) satisfies a first condition and comparing the first value of the first power quantity with a threshold power quantity (P lim); verifying that the first value of the first power quantity is greater than or equal to the threshold power quantity (P lim); and repeating the steps of: acquiring the detection signals (S 1,a -S 4,a); processing the engine quantities to obtain the first value of a first power quantity (P eng,a); processing the velocity and the slope angle to obtain the first value of the second power quantity (P losses, a); comparing the first value of the first power quantity with the threshold power quantity (P lim); and verifying that the first value of the first power quantity is greater than or equal to the threshold power quantity (P lim), acquiring the detection signals (S 1,a -S 4,a); processing the engine quantities to obtain the first value of a first power quantity (P eng,a); processing the velocity and the slope angle to obtain the first value of the second power quantity (P losses, a); comparing the first value of the first power quantity with the threshold power quantity (P lim); and verifying that the first value of the first power quantity is greater than or equal to the threshold power quantity (P lim), until the first value of the first power quantity is greater than or equal to the threshold power quantity; determining the mass of the off-road vehicle from the derived quantities; and storing the mass of the off-road vehicle in a memory, wherein the derived quantities are energy quantities (E eng, E losses, E k, E p).