A braking device for a motor vehicle has a setpoint controlled deceleration device, which, upon receipt of a braking request input by a driver or an assistance system, for example, on the basis of a difference between a setpoint value and an actual value, drives a brake of the vehicle to generate a setpoint controlled braking torque for a deceleration of the motor vehicle. In addition, the braking device has a braking preparation control, which, upon receipt of a braking preparation signal, drives the brake independently of the setpoint value to produce at least one braking pressure for generating a preparation braking torque for a pre-deceleration of the motor vehicle. The braking preparation signal is generated as soon as a driving situation is ascertained where a braking request input by a driver or an assistance system is very likely imminent.