<p>Electro-hydraulic braking (EHB) systems are safety-critical subsystems in intelligent and electrified vehicles, where actuator and sensor faults can significantly degrade braking performance and pose serious safety risks. To address such problem, this paper proposes a novel fault-tolerant control framework for EHB system. First, the orifice flow principle and Takagi–Sugeno fuzzy modeling techniques are applied to construct an EHB dynamic model with dual faults. Then, by integrating adaptive laws with <InlineEquation ID="IEq1"> <EquationSource Format="TEX">\(H_{\infty }\)</EquationSource> <EquationSource Format="MATHML"><math> <msub> <mi>H</mi> <mi>∞</mi> </msub> </math></EquationSource> </InlineEquation> robustness theory, a dual-fault adaptive observer is developed to simultaneously estimate system states and reconstruct actuator and sensor fault in the presence of uncertainties and disturbances. On this basis, a prescribed performance control strategy is designed by barrier Lyapunov functions, to guarantee that the braking pressure tracking behavior meets the predefined transient and steady-state performance constraints. Simulation results under both slowly varying and suddenly fault scenarios demonstrate that the proposed method achieves effective fault estimation and satisfactory pressure tracking performance. Comparative results further confirm significant improvements in robustness and fault-tolerance capabilities of the proposed method over other existing ones.</p>