An improved electro-hydraulic modulating valve pedal assembly is adapted to control the flow of hydraulic fluid manually through actuation of a pedal, electrically through activation of a solenoid, or in combination through actuation of a pedal and activation of a solenoid. In one embodiment, the pedal assembly includes a pedal that is pivotably mounted to a base, a push rod that is operatively coupled to the pedal, a spool valve that is configured to vary the hydraulic output in response to the position of the push rod, and a solenoid that is magnetically coupled to the push rod. The pedal assembly is well suited for electronic-hydraulic braking control systems, including brake electronic control units for anti-lock braking, emergency braking, and autonomous operation.