Continuous and prolonged breathing rate monitoring is a challenge. Existing technologies have limitations such as bad user comfort over time or interference from the experimental environment. Intraoral sensors offer a novel approach, measuring at a position directly connected to the lungs and breathing cycles. The objective is to develop and evaluate a breathing rate estimation pipeline using pressure and acceleration sensor measurements.The Densor (dental sensor) is an intraoral sensing device that generated the required data.Participants performed controlled experiments with varying breathing rates and body positions.Pressure and acceleration measurements were filtered using signal processing techniques to isolate human breathing frequencies. An estimate for the breathing rate is subsequently calculated using peak detection algorithms applied to the filtered signals. The model demonstrated a proof of concept, reaching mean absolute percentage errors as low as 5.42% for breathing rate estimates. However, further analysis is needed to establish this method as a reliable estimator of breathing rate.