In a method for fetching instructions in an embedded system, a predicted one of a set of the instructions stored in a memory device is fetched and is subsequently stored in an instruction buffer when a system bus is in a data access phase. When a processor generates an access request for the memory device, the predicted one of the instructions stored in the instruction buffer is provided to the system bus for receipt by the processor upon determining that the predicted one of the instructions stored in the instruction buffer hits the access request from the processor. An embedded system with an instruction prefetching device is also disclosed.