A friction brake device has a brake rotor that rotates around an axis of rotation, brake pads that can rotate around an axis of autorotation parallel to the axis of rotation, support members that support the brake pads respectively, and pressing devices that press the brake pads against the brake rotor respectively. In the friction brake device, when the brake pads are pressed against the brake rotor, the brake pads revolve around the axis of rotation relatively to the brake rotor while being frictionally engaged with lateral faces of the brake rotor respectively. The support members press the brake pads in a direction perpendicular to the axis of rotation, and frictionally engage outer peripheries of the brake pads with a cylindrical face of the brake rotor respectively. The brake pads auto-rotate around the axis of autorotation upon beginning to be pressed, but come to rest when the pressing force increases.