A method for measuring the angles of inclination of the wheels (R1-R4) of a motor vehicle, including the steps of: - applying a plurality of markers to the wheels (R1-R4) of the motor vehicle along a line approximately circumferential and approximately coaxial with the wheel; - providing, at each wheel whose characteristic angles must be acquired, a first image acquisition device (Tl1; Tl3; Tl5; Tl7) and a second image acquisition device (Tl2; Tl4; Tl6; Tl8), said two image acquisition devices having different inclinations and positions with respect to said wheel; - for each of said wheels, acquiring at least a first image and a second image of said wheel with the relative markers by means of said first and second image acquisition device respectively; - determining the two-dimensional coordinates of the barycentric points of said markers in said first and second image, respectively; - by means of an operation using epipolar geometry, determining the correspondence between the barycentric points on said first image and the barycentric points on the second image, starting from the barycentric points in the first image and starting from the barycentric points in the second image; - on the basis of the coordinates of said barycentric points in the first and second image, determining by triangulation the coordinates of said barycentric points in an absolute three-dimensional reference system centered on one of said image acquisition devices (Tl1-Tl8); - determining, based on said coordinates of said barycentric points, in said three-dimensional reference system, the equation of an approximate plane in which said markers lie in space, said plane being approximately parallel to the plane in which the wheel lies; - determining the camber and toe angles of said wheel (R1-R4) on the basis of the equation of said plane in which the markers lie and of the equation of reference planes with respect to which the motor vehicle takes a known position. - applying a plurality of markers to the wheels (R1-R4) of the motor vehicle along a line approximately circumferential and approximately coaxial with the wheel; - providing, at each wheel whose characteristic angles must be acquired, a first image acquisition device (Tl1; Tl3; Tl5; Tl7) and a second image acquisition device (Tl2; Tl4; Tl6; Tl8), said two image acquisition devices having different inclinations and positions with respect to said wheel; - for each of said wheels, acquiring at least a first image and a second image of said wheel with the relative markers by means of said first and second image acquisition device respectively; - determining the two-dimensional coordinates of the barycentric points of said markers in said first and second image, respectively; - by means of an operation using epipolar geometry, determining the correspondence between the barycentric points on said first image and the barycentric points on the second image, starting from the barycentric points in the first image and starting from the barycentric points in the second image; - on the basis of the coordinates of said barycentric points in the first and second image, determining by triangulation the coordinates of said barycentric points in an absolute three-dimensional reference system centered on one of said image acquisition devices (Tl1-Tl8); - determining, based on said coordinates of said barycentric points, in said three-dimensional reference system, the equation of an approximate plane in which said markers lie in space, said plane being approximately parallel to the plane in which the wheel lies; - determining the camber and toe angles of said wheel (R1-R4) on the basis of the equation of said plane in which the markers lie and of the equation of reference planes with respect to which the motor vehicle takes a known position.