A pedal simulator includes a pedal simulator piston configured to move in a linear direction based on a pedal stroke of a driver, a first stopper that is rotatable in a clockwise or counterclockwise direction and configured to adjust a pedal tactile feedback provided to the driver based on the rotation of the first stopper, a first damper disposed inside the pedal simulator piston to be spaced apart from the first stopper by an air gap, and configured to contract or expand based on the movement in the linear direction, and a second stopper configured to be operatively coupled with the first stopper for causing the air gap to change based on the rotation of the first stopper, wherein the pedal tactile feedback changes based on a change in the air gap.