The present invention relates to a novel braking system for vehicles, such as those suitable for transporting loads and/or passengers, that is made up of features capable of substantially reducing the structural complexity of these braking systems, particularly of those models provided with dual actuation, and thereby reducing the costs involved in the manufacturing and assembly of the braking systems and the vehicles themselves. More particularly, the system of the present invention comprises an armature (1) fixed to the rigid axle (E) of the vehicle (V), on which a drum (2) is placed, which is associated with the wheel hub (R), at least two shoes (3) provided with brake linings (30) being arranged on diametrically opposite edges of said armature (1) and moving towards the inner surface of said drum (2) by means of a drive assembly (4) that is made up of a first actuator (5a) positioned adjacent to one end of said shoes (3), and a second actuator (5b) positioned adjacent to the opposite end of said shoes (3), at least one of which is coupled to an actuator assembly (9) of the vehicle (V); it also comprises supports (7a, 7b) that are mounted concentrically with the respective actuators (5a, 5b) and interconnected by means of rods (8) arranged at the ends thereof.