The vertebrate body forms by progressive addition and segmentation of tissues in an anterior to posterior direction. The posterior presomitic mesoderm (pPSM), which receives new cells from the tailbud, produces an expansive force that drives axis elongation (1,2,3). Elongation moves an FGF gradient that controls the boundary placement of new segments in conjunction with the oscillatory genes of the segmentation clock (4). As the period of the segmentation clock is insensitive to body size (5,6) or elongation progress (7,8), the number and size consistency of segments depend on stable, robust elongation. How elongation speed is constrained remains unknown. Here we utilised modeling and tissue force microscopy (9) on chicken embryos to show that cell density of the pPSM dynamically modulates elongation speed in a negative feedback loop. Elongation alters the cell density in the pPSM, which in turn controls progenitor cell influx through the mechanical coupling of body axis tissues. This enables responsive cell dynamics in over- and under-elongated axes that consequently self-adjust speed to achieve long-term robustness in axial length. Our simulations and experiments further suggest that cell density and activity under FGF signalling act synergistically to drive elongation. Our work supports a simple mechanism of morphogenetic speed control where the cell density relates negatively to progress, and positively to force generation.