This work presents a hydraulic anti-lock braking system (ABS) for a motorcycle. The ABS has a hydraulic modulator and an intelligent controller. The hydraulic modulator is analyzed, and then equipped on a scooter for road tests. The intelligent controller controls the hydraulic modulator by estimated vehicle velocity to calculate the slip ratio of the wheels in real time. The performance of the hydraulic modulator and intelligent controller are assessed by the hardware-in-the-loop (HIL) simulations and road tests. In HIL simulation, the ABS is tested for different initial braking velocities on roads with different adhesive coefficients. Furthermore, both HIL simulations and road tests are conducted on a one-phase pavement road and three-phase pavement road.