In a method for controlling the speed of a motor vehicle, an acceleration-demand signal is generated which represents a positive or negative setpoint acceleration of the vehicle, and either a control command is output to the engine or a control command is output to braking system of the vehicle as a function of this signal, wherein a signal for preloading the braking system is output when the acceleration-demand signal falls below a threshold value which lies above a value at which the braking system is activated.