In a method of dynamic milking, is performed a given modulating of values of airflow-forming pressures in a first working zone in a negative drive cycle and in a second working zone in a positive drive cycle of a cyclic drive unit, 0 for providing and energy-physiological optimization of given periodic dynamic in-phase vacuum and mechanical actions on a surface of a milking teat in a two-chamber teat cap with a hermetic chamber connected with a source of a chamber pressure, whose movable part of a wall realizes the mechanical actions only on a lateral surface of the teat without interrupting of a spatial channel for movement of milking milk between an open output of the milking channel of the teat and a constantly open milk output of the teat cup during a dynamic milking process.