Indirect tire pressure monitoring system(i-TPMS) monitors the inflation pressures in pneumatic tires by using wheel speed signals acquired from the anti-lock braking system(ABS). Frequency analysis and wheel radius analysis are performed at the same time in order to monitor the tire pressures indirectly. The resonance frequency of the tire torsional vibration decreases as the tire pressure decreases. It is necessary to estimate the resonance frequency in order to detect a reduction in tire pressure. This paper discusses the method of estimating the resonance frequency with the rotational wheel speed signal. First, the toothed wheel error of the wheel speed sensor and the wheel speed corrected with the toothed wheel error are calculated from the wheel speed signals. The engine noise caused by the explosion in the four-stroke of engine is eliminated by the notch filter, which is designed by using the engine rotational speed. Finally, the resonance frequency is evaluated via model parameter estimation based on the autoregressive(AR) model. Vehicle tests have been conducted in order to evaluate the proposed estimation method of resonance frequency. The findings of the vehicle test have shown that the proposed method provides satisfactory performance for the warning indication of tire pressure loss.