A brake controller comprising: a friction brake device provided at each wheel (Wfr, Wfl, Wrr, Wrl) of a vehicle for generating a friction braking force (Fm) at the each wheel of the vehicle; a regeneration brake device for generating a regeneration braking force (Fc) which is generated by a generator (Mg) equipped in the vehicle at regeneration braking side right/left wheels which are one side of right/left front wheels (Wfr and Wfl) and right/left rear wheels (Wrr and Wrl) with the same amount at each of the regeneration braking side right/left wheels; a required braking force calculating portion for calculating a required braking force (Fd) corresponding to a deceleration required to the vehicle; a vehicle motion control portion, which distributes the required braking force (Fd) to the regeneration braking side right/left wheels and to non-regeneration braking side right/left wheels which are the other side of the right/left front wheels (Wfr and Wfl) and the right/left rear wheels (Wrr and Wrl); and a maximum braking force calculating portion for calculating a maximum braking force (Fmax); characterized in that the maximum braking force calculating portion is a maximum braking force calculating portion for calculating a maximum braking force (Fmax) which corresponds to a maximum allowable braking force applicable to the each wheel (Wfr, Wfl, Wrr, Wrl) to a level that rotation of the each wheel may not be locked, based on a lateral force and a road surface limit friction force generated at the each wheel; and the brake controller further comprises a braking force control portion (31, 32, 33, 34), which calculates the regeneration braking force to be generated at the regeneration braking side right/left wheels within a range where the regeneration braking force (Fc) to be generated at the regeneration braking side right wheel and the regeneration braking force to be generated at the regeneration braking side left wheel do not exceed a smaller maximum braking force (Fmax) between the maximum braking forces applicable to the regeneration braking side right/left wheels, based on the required braking force (Fd) and a distribution of a braking force (Fr) to the non-regeneration braking side right/left wheels, wherein the braking force control portion sets the regeneration braking force (Fc) to be generated at the regeneration braking side right/left wheels (Wfr and Wfl) to a value equal to or less than a value obtained by subtracting a minimum friction braking force (Fmin) calculated by the vehicle motion control portion to be generated by the friction brake device at the non-regeneration braking side right/left wheels (Wrr and Wrl) from the required braking force (Fd). a friction brake device provided at each wheel (Wfr, Wfl, Wrr, Wrl) of a vehicle for generating a friction braking force (Fm) at the each wheel of the vehicle; a regeneration brake device for generating a regeneration braking force (Fc) which is generated by a generator (Mg) equipped in the vehicle at regeneration braking side right/left wheels which are one side of right/left front wheels (Wfr and Wfl) and right/left rear wheels (Wrr and Wrl) with the same amount at each of the regeneration braking side right/left wheels; a required braking force calculating portion for calculating a required braking force (Fd) corresponding to a deceleration required to the vehicle; a vehicle motion control portion, which distributes the required braking force (Fd) to the regeneration braking side right/left wheels and to non-regeneration braking side right/left wheels which are the other side of the right/left front wheels (Wfr and Wfl) and the right/left rear wheels (Wrr and Wrl); and a maximum braking force calculating portion for calculating a maximum braking force (Fmax); characterized in that the maximum braking force calculating portion is a maximum braking force calculating portion for calculating a maximum braking force (Fmax) which corresponds to a maximum allowable braking force applicable to the each wheel (Wfr, Wfl, Wrr, Wrl) to a level that rotation of the each wheel may not be locked, based on a lateral force and a road surface limit friction force generated at the each wheel; and the brake controller further comprises a braking force control portion (31, 32, 33, 34), which calculates the regeneration braking force to be generated at the regeneration braking side right/left wheels within a range where the regeneration braking force (Fc) to be generated at the regeneration braking side right wheel and the regeneration braking force to be generated at the regeneration braking side left wheel do not exceed a smaller maximum braking force (Fmax) between the maximum braking forces applicable to the regeneration braking side right/left wheels, based on the required braking force (Fd) and a distribution of a braking force (Fr) to the non-regeneration braking side right/left wheels, wherein the braking force control portion sets the regeneration braking force (Fc) to be generated at the regeneration braking side right/left wheels (Wfr and Wfl) to a value equal to or less than a value obtained by subtracting a minimum friction braking force (Fmin) calculated by the vehicle motion control portion to be generated by the friction brake device at the non-regeneration braking side right/left wheels (Wrr and Wrl) from the required braking force (Fd).