The optimization of neural networks in terms of computation cost and memory footprint is crucial for their practical deployment on edge devices. In this work, we propose a novel quantization-aware training (QAT) scheme called noise injection pseudo quantization (NIPQ). NIPQ is implemented based on pseudo quantization noise (PQN) and has several advantages. First, both activation and weight can be quantized based on a unified framework. Second, the hyper-parameters of quantization (e.g., layer-wise bit-width and quantization interval) are automatically tuned. Third, after QAT, the network has robustness against quantization, thereby making it easier to deploy in practice. To validate the superiority of the proposed algorithm, we provide extensive analysis and conduct diverse experiments for various vision applications. Our comprehensive experiments validate the outstanding performance of the proposed algorithm in several aspects.