A brake apparatus includes a first processor configured to output a first control signal based on an output signal of a parking switch, a second processor, a first parking brake driver configured to drive a first parking brake motor and a second parking brake motor based on the first control signal, and a second parking brake driver. The first processor transmits a first periodic signal to the parking switch during a normal operation of the first processor. The parking switch transmits a second periodic signal to the second processor in response to the first periodic signal received from the first processor. The second processor does not output the second control signal in response to the second periodic signal, and outputs a second control signal in response to not receiving the second periodic signal. The second parking brake driver drives the second parking brake motor based on the second control signal.