A vehicle hydraulic braking system comprising: a service braking system (A) powered by a hydraulic generator (3); an emergency braking system (B); a manual control element (D, 16); a master cylinder (17); at least one safety valve (26, 28); a simulator (M) used, as the manual control element moves forward (D, 16), to oppose a reaction that reflects the braking process, said simulator comprising a cylinder (30) wherein a simulator piston (31) slides and which is subject, in one direction, to a liquid pressure from the master cylinder (17) and, in the opposite direction, to an opposing force dependent on the stroke of the manual control element; inlet (9a-9d) and outlet (14a-14d) solenoid valves connected to the wheel brakes (2a-2d); sensors (8, 13a-13d, 24, 29) used to capture different braking parameters; and a computer (C) used to control the solenoid valves. The counteracting force in the simulator (M) results from the action, on one surface of the simulator piston (31), from a modulated pressure established on the basis of the liquid pressure supplied by the hydraulic generator (3) and controlled by the computer (C) according to a given law, which can be modified at will.