A method for filling a vehicle fuel tank with a gas is provided, in which the vehicle fuel tank (31) is connected to a delivery device (2) by a pressure-tight line (10) and the gas stored under pressure is filled into the vehicle fuel tank (31) from a storage unit (3) by means of the delivery device (2). The method comprises the following steps: the instantaneous value of a parameter, which is representative of the instantaneous level of filling of the vehicle fuel tank (31), is determined during filling with the aid of a sensor apparatus (32, 33) arranged in the vehicle fuel tank (31) the filling is ended when the parameter has reached a pre-settable end value.