The invention relates to a method and a device for milking milk residues to achieve the extraction of as much of the milk as possible that is preset in the udder. According to the method, a rubber teat element (10) in a teat cup (1) is displaced in a milking motion by a negative suction pressure caused by adjustable pulse phases consisting of alternating suction and pause phases and of a pulse intensity, in order to a volumetric flow of milk. The volumetric flow is continuously recorded and if it decreases, the motion of the rubber teat element is modified in a targeted manner.