A method for calibrating a sensor of a motor vehicle includes, while the motor vehicle is moved relative to an object, continuously receiving a reception signal by a computing device from two reception devices of the sensor, the reception signal describing a sensor signal that is emitted by the sensor and reflected at the object. A measurement angle between the sensor and the object is determined based on a phase difference between the reception signals. A relative orientation between the sensor and the object is determined continuously based on the reception signals, and a reference time at which the relative orientation corresponds to a predetermined reference orientation for which a reference angle between the sensor and the object is known is determined by the computing device. The measurement angle is determined for the reference time, and the sensor is calibrated based on a comparison between the measurement angle for the reference time and the reference angle.