The brake control device applied to a hydraulic pressure braking force generating device having a driving hydraulic pressure generating device and a pilot hydraulic pressure generating device. The brake control device includes a judging portion which judges whether or not an operating amount of a brake operating member is equal to or less than a predetermined value and a pilot hydraulic pressure control portion which controls the pilot hydraulic pressure generating device to generate a preparatory hydraulic pressure in the pilot hydraulic pressure chamber which is larger than an atmospheric pressure set to a value so that a hydraulic pressure in the wheel cylinder is kept substantially to an atmospheric pressure level when the judging portion judges that the operating amount of the brake operating member is equal to or less than the predetermined value to suppress occurrence of brake dragging during non-braking operation with keeping the braking force responsiveness.