Pavement skid resistance is significant for driving safety. British Pendulum Number (BPN) is commonly used as a low-speed skid resistance indicator, whereas sometimes it is impractical for data collection on roads in service. Since skid resistance is greatly affected by pavement surface texture, this research aims to evaluate pavement surface texture comprehensively and estimate the low-speed friction BPN from road surface texture on macro- and micro- scale. Asphalt Concrete (AC) and Stone Mastic Asphalt (SMA) were included. Road surface texture was evaluated from four aspects, texture depth, amplitude-related Root Means Square (RMS), elevation variances corresponding to different wavebands and texture spectral analysis. Texture depth indicators include Mean Texture Depth (MTD) and Mean Profile Depth (MPD). Elevation variances with three wavebands, from 5 mm to 50 mm, from 0.5 mm to 5 mm and from 0.024 mm to 0.5 mm respectively, were obtained. The results show that MPD is well correlated with MTD. Elevation variances with different wavebands demonstrates that the elevation variance of macro-texture with long wavelengths from 5 mm to 50 mm dominates the total variance. Spectral analysis shows that texture level is larger when the wavelength is beyond 4 mm, which is consistent with elevation variances. A linear regression between BPN and single texture index, as well as multiple linear regression analysis were conducted. The former regression result indicates that it is not feasible to estimate BPN using single index due to low correlation coefficient R 2. The latter shows that the BPN can be estimated from texture levels corresponding to 64 mm and 2 mm, and the micro-texture. The R 2 can be up to 0.684. This research will contribute to fast acquisition of BPN from pavement surface texture, thus improving skid resistance.