A stroke-controlled balancing device for hydraulic braking systems, comprising a balancing duct, a normally closed balancing valve, configured, in use, to maintain a connection between the hydraulic braking system and the balancing duct either closed or open, a stem having an external surface and an internal surface. A balancing channel is provided on the internal surface of the stem, said channel being hydraulically connected to the balancing duct, and the balancing valve is configured to slide, in use, along the external surface of the stem in order to open the connection between the braking system and the balancing duct. A braking system comprising the balancing device, as well as a method of operation of the braking system, are also described.