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For steer-by-wire (SBW) system removes mechanical linkages between steering system and front wheels, driver is unable to sense road information, a dynamic model of SBW system was established to analyze the road feel theory of vehicle steer system. The road feel control method of SBW system was designed to produce the steering road feel almost the same as that obtained in a conventional electric power steering (EPS) system. Road feel was computed by rack force of steer system and assist characteristics of EPS system. For rack force was difficult to measure, an algorithm was proposed to estimate rack force by Kalman filter. The test results showed that drivers could effective get road feel information and SBW system could improve the vehicle maneuverability by the proposed road feel control method.