A method for estimating the pressure of the tyres (T1-T4) of a vehicle, characterized in that it comprises: - for each tyre (T1-T4), acquiring a signal or data indicative of the angular velocity of the wheel (W1-W4) with which said tyre is associated; - selecting a subset of said acquired signals or data, wherein said subset of data includes signals or data acquired in a rectilinear vehicle travel condition; - determining a pressure relationship between tyres (T1, T2, T3, T4) of each pair of wheels (W1, W2, W3, W4) belonging to the same axle of the vehicle by comparison between the value of a quantity correlated to the tyre pressure for a first tyre (T1; T3) and the value of said quantity correlated to the tyre pressure for a second tyre (T2; T4), wherein a ratio between said quantity correlated to the tyre pressure of the first tyre (T1; T3) and said quantity correlated to the tyre pressure of the second tyre (T2; T4) is calculated on the basis of the signals or data indicative of the angular velocity of the wheels (W1; W3; W2; W4) with which said first and second tyre are associated; and - determining a pressure relationship between pairs of tyres (T1, T2, T3, T4) of a pair of axles of the vehicle by comparison between the average value of said quantity correlated to the pressure of the first and second tyre for a first pair of tyres (T1, T2) belonging to a first axle of the vehicle and the average value of said quantity correlated to the pressure of the first and second tyre for a second pair of tyres (T3, T4) belonging to a second axle of the vehicle, wherein a ratio between the average value of said quantity correlated to the pressure of the first and second tyre for said first pair of tyres (T1, T2) belonging to the first axle of the vehicle and the average value of said quantity correlated to the pressure of the first and second tyre for said second pair of tyres (T3, T4) belonging to the second axle of the vehicle is calculated on the basis of signals or data indicative of the average angular velocity of the wheels (W1, W2; W3, W4) of the axles of the vehicle with which said pairs of tyres are associated and on the basis of a quantity indicative of the slippage of the pair of tyres of the driving wheels on the ground, and wherein said quantity correlated to the tyre pressure is the rolling radius of the wheel on which the tyre is mounted, calculated from the acquired angular velocity of the wheel. - for each tyre (T1-T4), acquiring a signal or data indicative of the angular velocity of the wheel (W1-W4) with which said tyre is associated; - selecting a subset of said acquired signals or data, wherein said subset of data includes signals or data acquired in a rectilinear vehicle travel condition; - determining a pressure relationship between tyres (T1, T2, T3, T4) of each pair of wheels (W1, W2, W3, W4) belonging to the same axle of the vehicle by comparison between the value of a quantity correlated to the tyre pressure for a first tyre (T1; T3) and the value of said quantity correlated to the tyre pressure for a second tyre (T2; T4), wherein a ratio between said quantity correlated to the tyre pressure of the first tyre (T1; T3) and said quantity correlated to the tyre pressure of the second tyre (T2; T4) is calculated on the basis of the signals or data indicative of the angular velocity of the wheels (W1; W3; W2; W4) with which said first and second tyre are associated; and - determining a pressure relationship between pairs of tyres (T1, T2, T3, T4) of a pair of axles of the vehicle by comparison between the average value of said quantity correlated to the pressure of the first and second tyre for a first pair of tyres (T1, T2) belonging to a first axle of the vehicle and the average value of said quantity correlated to the pressure of the first and second tyre for a second pair of tyres (T3, T4) belonging to a second axle of the vehicle, wherein a ratio between the average value of said quantity correlated to the pressure of the first and second tyre for said first pair of tyres (T1, T2) belonging to the first axle of the vehicle and the average value of said quantity correlated to the pressure of the first and second tyre for said second pair of tyres (T3, T4) belonging to the second axle of the vehicle is calculated on the basis of signals or data indicative of the average angular velocity of the wheels (W1, W2; W3, W4) of the axles of the vehicle with which said pairs of tyres are associated and on the basis of a quantity indicative of the slippage of the pair of tyres of the driving wheels on the ground, and wherein said quantity correlated to the tyre pressure is the rolling radius of the wheel on which the tyre is mounted, calculated from the acquired angular velocity of the wheel.