Disclosed is a steering wheel torque feedback optimization control method for a differential braking system, including: estimating a tire lateral force of a vehicle; predicting a state of the vehicle at a next moment under a non-differential torque condition; predicting a state of the vehicle at the next moment under a differential torque condition with an additional yaw moment; calculating tire lateral forces at the next moment under the differential torque condition and the non-differential torque condition separately based on the predicted states of the vehicle at the next moment under the differential torque condition and the non-differential torque condition, and obtaining a predicted one-step change value of a front tire lateral force by performing subtraction; performing integral calculation based on time, and obtaining a continuous change amount of the tire lateral force; and correcting a desired moment of a steering power motor.