A support structure for supporting a pedal for a vehicle with a pedal bracket connected to a toeboard panel for separating an engine compartment from a passenger compartment and to a steering beam disposed at a backward position from the toeboard panel. The support structure has a front bracket section of the pedal bracket fixed to the toeboard panel, and a rear bracket section of the pedal bracket fixed to the steering beam through a support bracket for the steering beam, the pedal being attached directly to the rear bracket section, wherein a rear end part of the front bracket section is slidably secured into a front end part of the rear bracket section with coupler.