To reduce the impact on the vehicle and minimize brake force fluctuations during mode transitions in the electro-hydraulic composite braking system, a control strategy for electro-hydraulic composite braking has been proposed, focusing on dual-motor driven electric vehicles with both front and rear wheel drive. This strategy includes a wheel cylinder pressure following control approach and a motor compensation control approach. The wheel cylinder pressure control, activated during hydraulic brake intervention, utilizes H_{\mathrm{\infty }} robust control to enable the hydraulic braking system to swiftly and precisely manage the magnitude of braking force. As a result, the braking system is stabilized, ensuring reliable vehicle control. To enhance braking comfort, a fuzzy PID-based motor compensation control strategy is employed during the intervention or withdrawal of hydraulic and regenerative brakes. This strategy reduces the impact on the composite braking system caused by variations in system response. The simulation conducted on the Simulink-AMESim-CarSim platform has verified that the hydraulic braking system can rapidly and accurately follow the target braking force. Furthermore, the results show that compared to an uncontrolled situation, the fluctuation in braking force is reduced by 90% and the shock is reduced by 74%, thereby significantly improving braking smoothness.