The invention proposes a method of controlling the gear change for a vehicle having at least two driving wheels, each driven by an electric motor M via a gear change mechanism having at least two reduction gears, a sensor for sensing the rotation speed of the driving wheel, in which the gear change on the two driving wheels is carried out in accordance with the following sequence: in an initial phase, releasing the current gear on a wheel referred to as the “operated” wheel RM, and stopping it in the neutral position, changing the revolution speed of the motor so as to synchronize it as a function of the reduction of the gear to be engaged on the operated wheel RM, using as an estimate of the speed of the vehicle a speed information item that is obtained from another driving wheel, referred to as the “sensor” wheel RC, engaging the intended gear on said “operated” wheel RM, then, in a successive phase, changing the gear on said other driving wheel with reversal of the roles of sensor wheel RC and operated wheel RM between the initial phase and the successive phase.