A disc brake for a vehicle such as a commercial vehicle, wherein the brake rotor extends from a hub end of an axle inboard a sufficient distance to place the friction surface of the rotor and the brake caliper outside the envelope of a wheel mounted at the end of the axle. The placement of the rotor friction surface and the caliper outside the envelope of the wheel enhances brake cooling, makes the brake more readily accessible for inspection and maintenance without significant vehicle disassembly, and permits the rotor outer diameter to be extended beyond the diameter of the wheel rim, thereby lowering brake components stresses and permitting use of lighter, lower cost brake components.