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This paper presents a method for identifying misfiring cylinders using crankshaft angular velocity measurements as input. The measured angular velocity is used in conjunction with a system model to estimate the indicated torque developed by each cylinder. The method is valid for engines with overlapping firing pulses, and also under conditions in which there is large torsional deflection in the crankshaft. The method is suitable for implementation for on-board misfire diagnostics. Experimental validation is provided using a 19 liter, 6 cylinder diesel engine. The experimental data shows that accurate detection and identification of misfiring cylinders is possible over the full speed and load range of the engine.