Due to the considerable increase in car parc and the remarkable improvement in vehicle properties and cost performance, higher requirements are being placed on driving comfort. With regard to the braking system, the enhancement of the brake pedal feel is one of the ways to improve the comfort, and affecting factors include spatial layout, dynamic characteristics, and the characteristics matching with the vehicle motion, so a comprehensive evaluation of a brake pedal is highly essential. This paper, by taking passenger cars in China as the research object, established a comprehensive evaluation system for pedals based on the improved analytic hierarchy process. The index weight in each index level was determined through the G1 method, and an experimental design was conducted on individual indices on the lowest level. The relationship parameters between the indices were measured through the test and comprehensive scores of each automobile pedal were obtained in combination with the evaluation method designed. Based on comprehensive scores, a typical analysis on 16 test vehicles was carried out, followed by a comparison of different index levels. Through result analysis, the direction for pedal improvement was proposed, and the feasibility of the method with the case is verified, which provides a scientific basis and a reference for vehicle pedal development, the calibration in position layout, and the pedal design.