This paper describes an approach of how to estimate the vehicle velocity using additional sensors provided by the brake-by-wire actuators. The advantage of brake-by-wire actuators - such as the electro-hydraulic (EHB) and the electro-mechanical brake (EMB) - is that the caliper pressure or the clamping force, respectively, are known. Wheel speed, vehicle acceleration, and caliper pressure or clamping force, respectively, are used to estimate the vehicle velocity using a fuzzy approach. Besides, the mass of the vehicle and the slope of the road are derived from the sensors provided. Finally, it will be shown by measurement results that the velocity of a research vehicle equipped with brake-by-wire actuators and a new ABS approach can be estimated very precisely even at very high wheel slips and different road conditions.