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We use approximate Bayesian computation (ABC) to estimate unknown parameter values, as well as their uncertainties, in Reynolds-averaged Navier-Stokes (RANS) simulations of turbulent flows. The ABC method approximates posterior distributions of model parameters, but does not require the direct computation, or estimation, of a likelihood function. Compared to full Bayesian analyses, ABC thus provides a faster and more flexible parameter estimation for complex models and a wide range of reference data. In this paper, we describe the ABC approach, including the use of a calibration step, adaptive proposal, and Markov chain Monte Carlo (MCMC) technique to accelerate the parameter estimation, resulting in an improved ABC approach, denoted ABC-IMCMC. As a test of the classic ABC rejection algorithm, we estimate parameters in a nonequilibrium RANS model using reference data from direct numerical simulations of periodically sheared homogeneous turbulence. We then demonstrate the use of ABC-IMCMC to estimate parameters in the Menter shear-stress-transport (SST) model using experimental reference data for an axisymmetric transonic bump. We show that the accuracy of the SST model for this test case can be improved using ABC-IMCMC, indicating that ABC-IMCMC is a promising method for the calibration of RANS models using a wide range of reference data.