A method is provided to control the acceleration of a motor vehicle from a current speed, wherein the motor vehicle includes an accelerator pedal system able to generate on the accelerator pedal an added reaction force when the depression of the accelerator pedal reaches a given depression level. The method includes the steps of: a) measuring the current vehicle speed; b) determining a target speed of the motor vehicle in function at least of the current vehicle speed or determining from the current vehicle speed a maximum acceleration rate; c) determining at least one threshold depression level of the accelerator pedal that corresponds to the stabilization of the vehicle speed at the target speed or that corresponds to maximum acceleration rate; d) generating an added reaction force on the accelerator pedal if the depression of the accelerator pedal reaches or is about to reach the threshold depression level; wherein at least steps a), b), and c) are automatically repeated as vehicle speed increases.