A method for estimating a travel speed (v) of a vehicle having at least one wheel for rolling on the ground, characterized by: - measuring an inertial or vibratory signal by at least one inertial or vibratory sensor of the vehicle, - calculating by at least one calculator a plurality of spectra (SP t) of the signal over a plurality of successive time windows (W t) defined with respect to successive instants (t), the plurality of spectra (SP t) forming at least one spectrogram as a function of the successive instants (t), - filtering the spectrogram by at least one noise attenuation and/or deterministic feature extraction filter, to obtain at least one filtered spectrogram (S( f t, t)) of the signal on the successive instants (t), - estimating by the calculator a frequency trajectory ( ξ t) representative of the speed (v) of the wheel of the vehicle in the filtered spectrogram (S( f t, t)) on the successive instants (t), by: estimating by the calculator a probability ( p z t | ξ t) of observation of the frequency trajectory ( ξ t) from a calculated amplitude of the filtered spectrogram (S(ft,t)) for each instant (t), estimating by the calculator an a posteriori law ( p ξ | Z) of observation of the frequency trajectory ( ξ t) as being proportional to the product of a prescribed probability ( p ξ) of transition of the frequency trajectory ( ξ t) and of the probability ( p Z t | ξ t) of observation of the frequency trajectory ( ξ t), estimating by the calculator the frequency trajectory ( ξ t) for the successive instants (t) from the a posteriori law ( p ξ | Z) of observation of the frequency trajectory ( ξ t), estimating by the calculator the travel speed (v) of the wheel of the vehicle for the successive instants (t) from the frequency trajectory ( ξ t), that has been estimated. - measuring an inertial or vibratory signal by at least one inertial or vibratory sensor of the vehicle, - calculating by at least one calculator a plurality of spectra (SP t) of the signal over a plurality of successive time windows (W t) defined with respect to successive instants (t), the plurality of spectra (SP t) forming at least one spectrogram as a function of the successive instants (t), - filtering the spectrogram by at least one noise attenuation and/or deterministic feature extraction filter, to obtain at least one filtered spectrogram (S( f t, t)) of the signal on the successive instants (t), - estimating by the calculator a frequency trajectory ( ξ t) representative of the speed (v) of the wheel of the vehicle in the filtered spectrogram (S( f t, t)) on the successive instants (t), by: estimating by the calculator a probability ( p z t | ξ t) of observation of the frequency trajectory ( ξ t) from a calculated amplitude of the filtered spectrogram (S(ft,t)) for each instant (t), estimating by the calculator an a posteriori law ( p ξ | Z) of observation of the frequency trajectory ( ξ t) as being proportional to the product of a prescribed probability ( p ξ) of transition of the frequency trajectory ( ξ t) and of the probability ( p Z t | ξ t) of observation of the frequency trajectory ( ξ t), estimating by the calculator the frequency trajectory ( ξ t) for the successive instants (t) from the a posteriori law ( p ξ | Z) of observation of the frequency trajectory ( ξ t), estimating by the calculator the travel speed (v) of the wheel of the vehicle for the successive instants (t) from the frequency trajectory ( ξ t), that has been estimated. estimating by the calculator a probability ( p z t | ξ t) of observation of the frequency trajectory ( ξ t) from a calculated amplitude of the filtered spectrogram (S(ft,t)) for each instant (t), estimating by the calculator an a posteriori law ( p ξ | Z) of observation of the frequency trajectory ( ξ t) as being proportional to the product of a prescribed probability ( p ξ) of transition of the frequency trajectory ( ξ t) and of the probability ( p Z t | ξ t) of observation of the frequency trajectory ( ξ t), estimating by the calculator the frequency trajectory ( ξ t) for the successive instants (t) from the a posteriori law ( p ξ | Z) of observation of the frequency trajectory ( ξ t), estimating by the calculator the travel speed (v) of the wheel of the vehicle for the successive instants (t) from the frequency trajectory ( ξ t), that has been estimated.