A vehicle brake hydraulic pressure control apparatus (control apparatus 100), installed in a vehicle reducing a drive torque when the vehicle is at a halt, that includes vehicle holding control section 113 for performing vehicle holding control by holding a brake hydraulic pressure when the vehicle is at a halt. The vehicle holding control section 113 is configured to release the holding of the brake hydraulic pressure based on the accelerator operation of a driver when the vehicle is at a halt and, in the releasing of the holding of the brake hydraulic pressure, release the holding of the brake hydraulic pressure completely before the drive torque of the vehicle starts increasing.