A method of estimating brake pad wear includes determining required braking energy to be dissipated by a braking system as a fraction of total kinetic energy according to an energy partitioning model. The required braking energy is distributed to vehicle braking mechanisms according to a vehicle dynamics model. Rotor temperature of each brake rotor may be determined according to a rotor temperature model that utilizes the required braking energy and the distribution of the required braking energy, and determining brake pad wear of each brake pad according to a brake pad wear model that utilizes the rotor temperature and the distributed required braking energy. A first brake pad wear model is implemented under first operating conditions, and a second brake pad wear model under second operating conditions. The brake pad wear is indicated via a brake pad wear indicator output device. A vehicle has a controller that implements the method.