The skid resistant performance of slippery pavement is one of the most important pavement surface characteristics, as it is associated with both pavement serviceability and traffic safety. Through simulating different pavement conditions in the freezing laboratory, skid resistance of asphalt pavement under various slippery conditions is measured with pendulum friction coefficient tester. Then, the effects of pavement temperature on skid resistance of dry, wet, icing and snowy pavements are quantitatively analysed. Furthermore, factors exerting effects on test results are taken into account, such as thicknesses of ice and water film on pavement. Through quantitative analysis, empirical evaluation model of pavement friction coefficient (PFC) under different conditions is established. To facilitate practical engineering application, reference standard values of PFC are recommended. Finally, the PFC is classified into seven levels, which illustrates the corresponding relationships of friction rank, skid resistance assessment, PFC range and pavement conditions.