This paper presents a novel design of a steer-by-wire (SbW) force feedback actuator for automotive applications. The actuator consists of a direct drive electric motor (e-motor) and a magnetorheological brake (MR-brake) that are integrated in a compact structure. The e-motor provides the steering feel related torque and a fast response, while the small and energy efficient MR-brake provides passive damping and high end-stop torque. By the combination, the emotor could be designed smaller, uses less energy and materials. The performance of the actuator combination is evaluated by simulation and driver-in-theloop tests. The controller design includes a torque splitting algorithm, which separates the feedback torque into MR-torque and e-motor torque. This algorithm has to provide high fidelity force feedback and robust stability under various vehicle dynamic maneuvers. The proposed actuator is suitable for SbW systems that require high performance, safety, and reliability.