A filling machine for food products in cans, including a supporting frame which forms a chamber and a feeding tunnel which is adapted to convey a food product into the chamber that is provided with a plunger which can move along the chamber, along a predefined compression direction; the chamber being provided with an expulsion piston configured to move transversely with respect to the compression direction for the expulsion of at least one preset shape in the direction of a station for canning the food product; a motor being provided which is associated with the plunger for a movement along the compression direction; and elements for measuring the density of the food product compressed in the chamber in order to control the driving torque of the motor as a function of the achievement of a predetermined density value.