This study proposes a novel method for estimation of driveline torque of wet type AT (Automatic transmission). The previous methods of torque estimation in the clutch-to-clutch shift mechanism is mainly applicable to the single gear shift. Thus, they require specific definitions of each gear shift and signal processing corresponding to the multi-gear shift. This study distinctly develops driveline torque estimator based on the whole transmission model, which is capable in applying on any conditional gear shift. This paper, also, incomparably investigates brake/clutch model including centrifugal force, describing physical behavior of real parts. In addition, the development of the method includes adaptive brake and clutch torque estimator in order to compensate variation factor during the shift. The estimation performance of the proposed estimator is evaluated both in simulations and experiments. The results demonstrate that the proposed methods can estimate the driveline torques effectively during the whole gear shift and well describes the typical clutch-to-clutch phenomena such as inter-locking. (C) 2018 Elsevier Ltd. All rights reserved.