A brake control device has a handle, a controlling lever, a driving member and a swing lever. The controlling lever is designed for manipulating by hand and fingers that can be shifted between a braked position, a temporary braked position, and a released position. The swing lever has one end pivotally connected to the handle, and another end pivotally connected with the controlling lever and the driving member. The driving member has a portion slidably abutting an upper wall formed within the handle, and drives braking mechanism by pulling a connecting element via a rotation while the controlling lever moves the driving member either downwardly or upwardly. Preferably, the controlling lever is formed with a stop or protrusion at the lower edge thereof for self-keeping in the braked position for parking the wheeled walker.