Nowadays, pneumatic actuation systems are utilized in many applications due to their outstanding advantages. However, the pneumatics possess nonlinear characteristics that complicate precise motion control. To extend the use of pneumatic actuators to different precise applications their non-linearity should be evaluated and compensated. This is only possible by correctly estimating the non-linear parameters that exist in pneumatic systems. The friction forces in pneumatic cylinders is one of the main nonlinear parameters. These parameters cannot be defined directly or listed precisely for any produced particular cylinder in manufacturer’s catalog. They should be estimated accurately by experimental methods. This paper presents a new, simple and cheap experimental method for identification of friction force parameters for standard linear double acting pneumatic cylinders. Two different pneumatic cylinders have been examined with the proposed method and it has been seen that the results sound promising to use in later control applications.