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A novel type of regenerative braking system for electric vehicles is proposed in this paper. Four pressure-difference-limit valves, two relief valves and two brake pedal simulators, are added to the layout of a conventional four-channel hydraulic modulator. The cooperation of relief valves and hydraulic pumps provides a stabilized high-pressure source. Pressure-difference-limit valves ensure that the pressure in each wheel cylinder can be modulated separately at a high precision. Besides, the functions of anti-lock braking system and electronic stability program are integrated in this regenerative braking system. The models of regenerative braking controller and vehicle dynamics are built in MATLAB/Simulink. Hydraulic brake model is built in AMESim through a parameterized and modularized method. Meanwhile, the control strategy of hydraulic brake modulation and brake force distribution are designed.