The steering torque feedback to the driver through steering system, which is called road feeling, is important for the driver in controlling the vehicle. Steering-By-Wire (SBW) vehicles decouple mechanical linkages between tires and the steering wheel, so it is significant to simulate and design road feel for SBW vehicles. With the aim of matching the dynamics of electric power steering (EPS) system, this paper derives a method for designing the road feeling system of SBW vehicles based on column type electric power steering system, and building a dynamical model of the mechanical steering gear，a physical model of the assisted motor and a driver model based on a fuzzy controller respectively. Then, a whole dynamical model of the road feeling system which sets the steering angle and vehicle speed as inputs and the ideal current of the road feeling motor as the output is integrated by these three models built above, next, a control method of the road feeling motor is designed based on a PID controller to realize a real time tracking of the ideal motor current, and obtaining the ideal feedback torque of road feeling motor, this torque should satisfy the expected goal of an ideal road feeling system, namely having a light steering at low speed and a smooth turning effect at high speed. Lastly, a simulation test of a continuous sinusoidal input condition applied to the steering wheel at low speed and high speed is performed respectively by MATLAB/Simulink to evaluate the behavior of the model. The simulation results show that the road feeling system of SBW vehicles designed in this paper can meet the desired goal of an ideal road feeling system, and this system can play an active role in the process of the transition from EPS system to SBW system.