In conventional vehicles, the control of vehicle speed is achieved by changing the engine load through adjusting the acceleration pedal. However, in electric vehicles, this is achieved by controlling the target motor torque obtained from the look-up table in accordance with the position of acceleration pedal. This method is an open-loop control, with which the engine brake cannot be implemented during downhill trips. In this paper, a closed-loop control of vehicle speed for electric vehicles is proposed. The target vehicle speed is set by the acceleration pedal. The controller collects the real vehicle speed, whereas the PID controller, according to the error of the real and target vehicle speed, adjusts the motor torque in real time to realize the closed-loop speed control. Under such controlling, the motor torque can be changed correspondingly with the resistance, thus makes the driving performance of electric vehicles more identical to that of conventional vehicles.