A braking apparatus of a vehicle may include: a first master cylinder configured to create hydraulic pressure as a brake pedal is pressed; a second master cylinder configured to create braking pressure through a piston which is pressed by the hydraulic pressure created by the first master cylinder and a nut moved by rotation of a motor; and a control unit, configured to: calculate a required displacement position of the nut based on a pedal stroke of the brake pedal, and update the required displacement position based on a displacement position of the nut at a dead stroke end point where the pedal stroke moves away from a dead stroke section of the first master cylinder.