The invention discloses an electro-hydraulic servo braking system with a pedal simulator. The electro-hydraulic servo braking system comprises a shell, a brake pedal, a pushing mechanism driven by the brake pedal, a braking mechanism driven by the pushing mechanism to achieve braking, a braking pipeline hydraulic valve actively controlled by the pushing mechanism and a pedal simulator used for simulating the feeling of the brake pedal. The flow direction of brake fluid in the brake pipeline between a push rod piston cavity and a fluid storage tank is adjusted through the hydraulic valve, due to the incompressibility and liquidity of the brake fluid, the brake fluid flows in the push rod piston cavity, a first piston cavity, a second piston cavity and the fluid storage tank through the brake pipeline in the process that a driver steps on or loosens the brake pedal, pedal damping and hysteresis of the brake pedal are simulated, the hydraulic valve is a mechanical valve body, auxiliary electric control equipment does not need to be arranged, when a system fails, the hydraulic valve effectively avoids the situation that the pressure of the brake fluid flowing into a piston cavity of the simulator is reduced, and the incompressibility and the fluidity of the brake fluid are improved.