Due to low-cost and simplicity, differential drive mobile robot are very popular in academic and hobby environments. However, in some applications, such as robot soccer, these robots need to move quickly and aggressively, thus requiring the use of techniques from control systems theory, where an accurate mathematical model is paramount. On the other hand, given budget limitations, the components used for academic robotics competitions are often acquired from hobby-grade manufacturers, which usually provide incomplete specifications. In this paper, we introduce a procedure to experimentally measure the parameters involved in the dynamical model of a differential drive robot. The procedure is intentionally based on a low-cost setup, which uses equipments found in academic laboratories. Moreover, we show experiments results that validate the mathematical model obtained through the experimental procedure.