Road roughness is a very important road condition for the infrastructure, as the roughness affects both the safety and ride comfort of passengers. The roads deteriorate over time which means the road roughness must be continuously monitored in order to have an accurate understand of the condition of the road infrastructure. In this paper, we propose a machine learning pipeline for road roughness prediction using the vertical acceleration of the car and the car speed. We compared well-known supervised machine learning models such as linear regression, naive Bayes, k-nearest neighbor, random forest, support vector machine, and the multi-layer perceptron neural network. The models are trained on an optimally selected set of features computed in the temporal and statistical domain. The results demonstrate that machine learning methods can accurately predict road roughness, using the recordings of the cost approachable in-vehicle sensors installed in conventional passenger cars. Our findings demonstrate that the technology is well suited to meet future pavement condition monitoring, by enabling continuous monitoring of a wide road network.