A brake pedal stroke simulator for Electro-hydraulic Braking System (EHBS) was developed to ensure the comfort braking pedal feel for the brake-by-wire system. An EHBS with an integrated master cylinder was proposed, and a composite brake pedal stroke simulator was designed for the EHBS, which was comprised of two inline springs and a third parallel one. A normally closed solenoid valve was used to connect the master cylinder booster chamber and the stroke simulator. The suitable brake pedal stroke was achieved by three stages of these springs' compression, whereas the solenoid valve was shutdown to enable mechanical control of the service brakes when electrical faults appeared.The pedal stroke simulator and the EHBS were modeled in MATLAB/SIMULINK-AMESim, and then the pedal stroke characteristic including the depressing and releasing process and its influencing factors, namely the preload force of the return spring, the cross-sectional area of the solenoid valve orifice, piston damping coefficient, and the pressure booster ratio were analyzed during the normal and failsafe mode. A bench test and hardware-in-the-loop (HIL) simulation were built to verify the stroke simulator performance. The simulation and test results show that the proposed pedal stroke simulator can meet the requirements of EHBS with improved braking comfort and driving safety.