A method and a system of access control between a main processor and peripherals connected by a communication bus, consisting of: assigning, to all or part of the programs to be executed by the main processor, at least one token selectively authorizing access to one or several of said peripherals, said token being provided at least initially by an auxiliary processor exploiting a memory distinct from that of the main processor; and checking, for each request of access of one of said programs to one of said peripherals, the presence of said authorization token for the access to the concerned peripheral.