In a method for protecting sensor data from manipulation, in the context of an authentication of the sensor, a number used once is sent from a control unit to the sensor, the sensor generating with the use of the number used once a cryptographic authentication message and sending at least a first part of the cryptographic authentication message to the control unit. In addition, the sensor data are provided with a cryptographic integrity protection, time-variant parameters being added to the sensor data and the sensor data being sent with the cryptographic integrity protection and the added time-variant parameters from the sensor to the control unit. For calculation of the initial parameters, at least a second part of the cryptographic authentication message is utilized.