A method for electronically controlling a bicycle gearshift by detecting a first actual command value of an actuator such as to position a motion transmission chain in engagement with a first of at least three coaxial toothed wheels, and a second actual command value of the actuator such as to position the chain in engagement with a second of said toothed wheels. For each toothed wheel, there is determined a nominal command value of the actuator theoretically such as to position the chain in engagement with said toothed wheel. Computing an actual command value of said actuator at least for each of said toothed wheels other than the first and second toothed wheel, based on said nominal command values and on said first and second actual command value. An electronically servo-assisted bicycle gearshift having modules adapted to implement the above method is also disclosed.