A brake hydraulic pressure control apparatus is provided with wheel cylinder pressure inference value acquisition means (step 402) for acquiring an inference value of the wheel cylinder pressure, master cylinder pressure inference value acquisition means (step 404) for acquiring an inference value of the master cylinder pressure by utilizing a wheel cylinder pressure inference initial value, reaction force compensation amount acquisition means (step 406) for acquiring a reaction force compensation amount which is a value depending on the variation of the master cylinder pressure caused by the flowing of brake fluid during an ABS control, and differential pressure inference value acquisition means (step 410) for acquiring an inference value of the differential pressure between the master cylinder pressure and the wheel cylinder pressure by adding the reaction force compensation amount to the difference between the master cylinder pressure inference value and the wheel cylinder pressure inference value.