Disclosed are system and method for abrasion warning of a brake friction pad of a vehicle. The system may include a friction pad abrasion sensing system (ESC) including a pressure sensor. The ESC system may recognize a speed change in association with a wheel speed sensor of the vehicle, measure a braking pressure using the pressure sensor included in the ESC system when the vehicle is decelerated, calculate and accumulate an abrasion index proportional to the measured braking pressure, and generate and output a notification message when the accumulated abrasion index is more than a predetermined reference value.