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We consider the modeling and control design of the regenerative braking system for heavy duty hybrid electric vehicles (HEVs) which have an isolated air-over-hydraulic (AOH) brake system and a generator. A nonlinear model is set up to characterize the behavior of the brake system. Then, the brake control is formulated as a torque tracking problem according to the driver's operations. The AOH brake system is appointed to track a constant brake torque; meanwhile, the generator is designed to track the torque error between the desired braking torque and the torque output of the AOH brake system. Finally, numerical experiments are carried out to verify the proposed model and control algorithms.