The invention is directed to an arrangement for controlling a braking force applied to a road wheel, with a hydraulic braking pressure supplied to a wheel brake cylinder through an actuator. A standard speed is set on the basis of a wheel speed detected by a wheel speed sensor, and a peak of the wheel speed changing from increase thereof to decrease thereof is detected. A coefficient of friction of road surface is determined on the basis of a vehicle acceleration detected by an acceleration sensor. The actuator is controlled according to a pressure control mode selected from a decrease mode for decreasing the pressure, a hold mode for holding the pressure, a first increase mode for increasing the pressure when the wheel speed exceeds the standard speed, and a second increase mode for increasing the pressure when the wheel speed exceeds the peak of the wheel speed. The first increase mode is selected when the coefficient of friction exceeds a predetermined value and the standard speed exceeds a predetermined speed. The second increase mode is selected when the standard speed is lower than the predetermined speed.