United said in a statement that the unscheduled landing occurred on a domestic flight in the United States over the weekend.
"United flight 94 from Houston to Denver returned to Houston Sunday due to a brake indicator issue," the US carrier said.
"Following standard operating procedures, as a precautionary measure, the flight landed in emergency status.
"The aircraft landed safely at 11.58am and our maintenance team is conducting a review of the aircraft."
A Boeing spokeswoman said the problem with the braking system forced the plane "back to base," without giving details of the malfunction or how long it might take to repair it.
Boeing sent a field service representative to the scene in Houston to help the airline with the problem.
The dual concerns were getting the aeroplane back into service and dealing with the flight's stranded passengers.
Last week, United said a Dreamliner on its way to Tokyo from Denver was forced to land in Seattle as a precaution.
Regulators and investors are keenly following the progress of the Dreamliner, Boeing's first predominantly carbon-fibre aircraft.
It was more than three years late getting into service after a number of production setbacks.
Introduced by airlines in late 2011, the Dreamliner was grounded in January after batteries overheated on two Japanese jets in quick succession.
It resumed commercial service in May after Boeing installed a redesigned battery system, based on a beefed-up housing, on the 50 jets in service.
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