Basal ganglia circuits are known to have role in a wide range of behaviour spanning from movement initiation to high order cognitive processes as reward related learning. Here, the intention is to have a biophysically realistic model of basal ganglia circuit for voluntary motor action selection. The ultimate aim is to provide a framework for models which could help comprehension of complex processes. To fulfill this aim a model capable of simulating direct, indirect and hyperdirect pathways with modified Hodgkin-Huxley neuron model is proposed. This model considers more neural structures than the works similar in the literature and can simulate activity of neurons in the neural structures taking part in action selection. The model proposed is shown to be versatile as the simulation results obtained are similar to the neuron activity recordings of the considered neural structures published previously. © 2012 Springer-Verlag.