Hybrid electric vehicle (HEV) is a good approach to solve the energy shortage and emission pollution issues and regenerative energy braking (REB) is one of its prime approaches for fuel saving. In this paper, a regenerative-electro-hydraulic braking system called dual mode braking system (DMBS), is proposed. The braking-by-wire technology is adopted for automatic electric control and cooperating with regenerative braking. This system can be easily converted to traditional hydraulic braking in case of fault occurs in the electro-hydraulic subsystem or some other reasons. The architecture is achieved with as less modification as possible of the original electro-hydraulic braking system. And the control strategy based on automobile braking regulations of the Economic Committee for Europe (ECE) is brought forward. Some simulations under given initial speeds and driving cycles are carried out to evaluate the effectiveness and REB efficiency. The simulating results indicate that the DMBS can work properly and can achieve a relative good performance on braking distance and regenerative energy.