The invention relates to a method for calibrating a sensor (3) of a motor vehicle (1), wherein a respective received signal is continuously received by two receiving devices (9, 9') of the sensor (3) by means of a computing device (7) while the motor vehicle (1) is moved relative to an object (8), said received signal describing a sensor signal which is transmitted by the sensor (3) and reflected by the object (8). A measurement angle (α) between the sensor (3) and the object (8) is determined using a phase difference (∆φ) of the received signals, and the relative position between the sensor (3) and the object (8) is continuously determined using the received signals. The computing device (7) determines a reference time (t0) when the relative position corresponds to a specified reference position for which a reference angle (β) between the sensor (3) and the object (8) is known, the measurement angle (α) is determined for the reference time (t0), and the sensor (3) is calibrated using a comparison of the measurement angle (α) for the reference time (t0) with the reference angle (β).