This paper focuses on the problem of pitch tracking in noisy conditions. A method using harmonic information in the residual signal is presented. The proposed criterion is used both for pitch estimation, as well as for determining the voicing segments of speech. In the experiments, the method is compared to six state-of-the-art pitch trackers on the Keele and CSTR databases. The proposed technique is shown to be particularly robust to additive noise, leading to a significant improvement in adverse conditions.