In order to explore the brake judder cause and to predict brake judder phenomenon, an eightdegreeoffreedom multipoint contact model of disc brake system is established, in which the inboard pad, outboard pad, wheel cylinder pi ston and caliper, and the interactions among them are taken into account. In thi s model, the frictionvelocity characteristic of the discpad couple is a semi empirical model. Based on the established model, the brake speed, the brake press ure variation, the brake torque variation and the brake caliper vibration accele ration are calculated in the MatlabSimulink software, by using the measured di s c thickness variation as the model input. The timefrequency characteristics of brake pressure variation, brake torque variation and caliper acceleration, gaine d from multipoint contact model simulation results, singlepoint contact model s imulation results and the dynamometer test results, are numerically compared. The results show that the multipoint contact model can predict brake judder with higher accuracy than singlepoint contact model, especially for caliper vibratio n simulation.