The invention relates to a braking energy recovery control method based on braking efficiency consistency. The method includes the steps that before braking starts, the current road adhesion coefficient is recognized; a braking efficiency reference sample function under the current road adhesion coefficient is determined; when braking starts, brake pedal position information from a brake pedal opening degree sensor is received, and the current brake pedal opening degree and the current automobile speed are judged; whether the next step that braking energy recovery is started is executed or notis judged, and if a judgment result is negative, a conventional hydraulic braking measure is taken; and braking energy is recovered. The invention further discloses a braking energy recovery controlsystem based on braking efficiency consistency. Which adhesion coefficient the road surface has is judged and matched through a road surface recognition and comparison module, and ABS control can be optimized; and the braking intention of a driver is recognized through the brake pedal opening degree sensor, and on the premise that automobile active safety is guaranteed, the braking energy is recovered.