The braking system is critical during the aircraft takeoff and landing. It is a challenging control problem for a braking system to maintain high efficiency due to the nonlinearity induced by the velocity variation. Traditional PID controllers, widely used in aircraft braking systems today, are unable to take the velocity variation into consideration due to their fixed gains. As a result, the braking performance declines, especially at low speeds. To deal with this issue, an LPV controller with a PID structure is adopted. In this paper, the dynamic model of an aircraft braking system is built and transformed into an LPV model that depends on the velocity. Using the adopted method, a PID controller with the gain varying with the velocity is obtained by solving a convex optimization problem represented by LMIs. Simulations are carried out to demonstrate that the LPV-PID controller can achieve better performance over a wider range of speeds than the traditional PID controller.