Hydraulic braking torque and motor braking torque are the main sources of braking torque of new energy vehicles. Hydraulic braking converts vehicle kinetic energy into heat dissipation, and motor braking converts vehicle kinetic energy into electric energy to achieve energy recovery. In the process of vehicle braking, when the wheels tend to lock, it is easy to cause vehicle instability, which seriously threatens the safety of driving.Therefore, how to coordinated the braking torque of the two braking systems to ensure the vehicle braking safety and energy recovery efficiency is still an urgent problem to be solved. In this paper, the electric vehicle equipped with electro-hydraulic compound braking system is taken as the research object, and the electro-hydraulic compound braking coordinated control strategy considering the general braking state and emergency braking state is proposed. Firstly, a 3-DOF vehicle longitudinal dynamic model is established according to the vehicle dynamic characteristics. Secondly, in the general braking state, the braking torque of the front and rear axles is optimally distributed with the energy recovery as the optimization objective. Then, in the emergency braking state, taking the vehicle braking safety as the optimization target, based on the sliding mode control method, by adjusting the braking the braking torque of the front and rear axles to make the actual slip ratio follow the expected slip ratio, the optimal control of the vehicle slip ratio is carried out. Finally, the electro-hydraulic compound braking torque distribution is carried out on the braking torque of the rear axle. Simulation and real vehicle test results show that, compared with the conventional rule-based coordinated control strategy, the proposed strategy significantly reduces the fluctuation of vehicle slip ratio and improves the energy recovery efficiency by at least 7.7%, so the vehicle safety and energy recovery efficiency are significantly improved.