In a method for controlling a speed of a vehicle, when an actual speed of the vehicle exceeds a predefined setpoint speed by more than a first predefined speed difference, a service brake of the vehicle is activated. In the method, the first predefined speed difference has a value greater than zero. Also, when the actual speed exceeds the setpoint speed by a second predefined speed difference, which is smaller than the first predefined speed difference, an idle speed control can be activated and a torque request of activated ancillary components can be reduced. Further, when the actual speed exceeds the setpoint speed by a sixth predefined speed difference, which is smaller than the first predefined speed difference, an ancillary component can be activated.