Aircraft braking systems are critical to take off and landing safety. The antiskid braking system aims to improve the utilization of the ground adhesion coefficient without deep skidding so that the aircraft can be stopped in the shortest possible time. The brake disc friction coefficient affects braking efficiency, and the commonly used estimation method influences accuracy. To solve this problem, an adaptive runway antiskid brake control method based on brake torque signals is proposed. This method enables highly accurate runway identification and precise control using brake torque signals from force sensors mounted on the chassis and wheel system structures. This method can be adapted to different runway environments, concurrently reduce the influence of the nonlinear brake torque characteristics, and significantly improve the braking efficiency. The effectiveness and stability of the proposed algorithm are verified by the results of digital simulation and experiments. The braking efficiency is improved from 69.7% to 91.2%, which proves the proposed method has a higher braking efficiency and accuracy.