A method for estimating the brake wear of a brake installed in a vehicle is described herein, comprising acquiring an initial mass of said brake; quantifying the amount of energy that is being dissipated by the brake over a first time period, measuring a temperature increase of the brake over said first time period; estimating the brake mass based on the amount of dissipated energy and the temperature increase; and comparing said initial mass of said brake with said estimated brake mass and estimating the brake wear based on this comparison. The method for brake wear estimation may use indirect or direct methods for quantifying the amount of energy that is dissipated. A system for estimating brake wear and performing this method is also described.