A method and a machine for balancing vehicle wheels with weights (18), the method comprising stages of: using a video camera (5, 6, 206) to frame a portion of a surface of a hub (101) of a wheel on which a weight (18) is to be applied, locating, in images of the hub (101) taken by the camera (5, 6, 206), at least a balancing plane (E1, E2) which is perpendicular to a rotation axis (A) of the wheel, piloting at least a pick-up device (8, 9, 209) such as to direct the at least a pick-up device (8, 9, 209) onto a point (P1, P2) of the hub (101) belonging to the balancing plane (E1, E2), detecting, by means of the pick-up device (8, 9, 209) characteristic geometric parameters of the hub (101) at the balancing plane (E1, E2), measuring an imbalance of the wheel, calculating, by means of an electronic calculator (4, 204) an entity of at least a weight (18) to be applied to the hub (101) at the balancing plane (E1, E2), and also calculating an angular position (T1, T2) of the weight (18) in the balancing plane (E1, E2).