A brake system may include a piston configured to advance or retract and configured to press a pad plate so that the pad plate is in contact with a brake disc configured to rotate together with a wheel, a motor configured to generate a rotational force for operating the piston, and a controller configured to control the motor, in which the controller is configured to control the motor to move a position of the piston to increase a clearance between the pad plate and the brake disc to a first reference clearance, and control the motor to move the position of the piston to decrease the clearance to a second reference clearance smaller than the first reference clearance based on a steering angle, a steering angular velocity, a lateral acceleration, a longitudinal acceleration, and/or a yaw rate of the vehicle.