Method of eliminating a yaw disturbance (6) in a vehicle equipped with a managed braking system, said method comprising the following steps: estimating said yaw disturbance (6) in said vehicle as a function of a plurality of parameters, said plurality of parameters comprising a speed (3) of said vehicle, a yaw speed (1) of said vehicle, an angle of the front wheels (2) of said vehicle, an angle of the rear wheels of said vehicle, a maximum lateral acceleration (4) of said vehicle, and a yaw moment (5) caused by braking; and asymptotic elimination of said estimated disturbance (6) as a function of said speed (3) of said vehicle, said elimination consisting in making said estimated disturbance (6) inobservable with respect to the yaw speed (1) of said vehicle.