A vehicle brake hydraulic pressure control apparatus includes, as a controller, acceleration acquiring section for acquiring an output value of an acceleration sensor detecting a front-rear direction acceleration of a vehicle, limiting section for limiting the magnitude of the output value acquired by the acceleration acquiring section within a predetermined limit value, a filter (control acceleration calculation section) limiting a change of a value output by the limiting section in a predetermined direction, and holding section for determining a holding pressure according to a value output by the filter and, based on the holding pressure, holding the braking force.