This report presents a detail approach and the main results of real-time velocity estimation based on the model of a DC motor. Velocity estimation here is useful for many applications such as haptic devices, industrial control as well as robotics. Also, we can remove encoders or tachometers with a IC which is cheaper, smaller. The proposed method is quite easy to implement with a simple hardware structure (PCI 7356 from National Instruments) and an intuitive graphical language (LabVIEW). The result shown that, estimation velocity could reduce noise significantly. This method could exactly achieved velocity value as encoder-based measurement with the same experimental parameters and hardware.