The invention provides a vehicle gear selection and parking brake joint control system which comprises an oil tank, a filter, a hydraulic pump, a safety valve, a gear selection operating valve, a forward gear clutch, a backward gear clutch, a reverse gear clutch, a shuttle valve, a liquid control valve, an energy accumulator, a towing vehicle parking brake, a towing vehicle parking hydraulic cylinder, a liquid control air valve, an air bag, an assistor, a trailer parking brake and a trailer parking hydraulic cylinder. The gear selection operating valve comprises an operating level. According to the vehicle gear selection and parking brake joint control system, when the vehicle is at a neutral gear, a towing vehicle and a trailer have a parking brake function, so that accidents do not occur easily when the vehicles are parked on a ramp for operation. According to the vehicle gear selection and parking brake joint control system, the trailer also has a parking brake function during the parking brake of the towing vehicle without needing the arrangement of a towing vehicle parking brake valve, a pneumatic control valve, a relay valve, a check valve and a second air bag, and a vehicle system is simplified.