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1. Warped Brake Rotors. This is the most common cause of a steering wheel shaking while braking. I would say that about 99% of the time a warped rotor is causing your steering wheel to shake when you step on the brake pedal. Most of the time you will also notice a shaking or pulsing in your brake pedal as well.
The most common reason for a car to shake is related to tires. If the tires are out of balance then the steering wheel can shake. This shaking starts at around 50-55 miles per hour (mph). It gets worse around 60 mph but starts to get better at high speeds. Sometimes brake rotors can be the cause of shaking. If your steering wheel shakes while you are braking then the problem could be caused by out of round brake rotors. This vibration can also be felt through your brake pedal. Another common problem that can cause shaking is when a brake caliper sticks on. When this happens you will experience a vibration through the steering wheel starting at 45 to 50 miles per hour. It will get very bad the faster you go, and you will also smell a burning odor when you stop.