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The acquisition and evaluation of pavement surface data play an essential role in pavement condition evaluation. In this paper, an efficient and effective end-to-end network for automatic pavement crack segmentation, called RHA-Net, is proposed to improve the pavement crack segmentation accuracy. The RHA-Net is built by integrating residual blocks (ResBlocks) and hybrid attention blocks into the encoder-decoder architecture. The ResBlocks are used to improve the ability of RHA-Net to extract high-level abstract features. The hybrid attention blocks are designed to fuse both low-level features and high-level features to help the model focus on correct channels and areas of cracks, thereby improving the feature presentation ability of RHA-Net. An image data set containing 789 pavement crack images collected by a self-designed mobile robot is constructed and used for training and evaluating the proposed model. Compared with other state-of-the-art networks, the proposed model achieves better performance and the functionalities of adding residual blocks and hybrid attention mechanisms are validated in a comprehensive ablation study. Additionally, a light-weighted version of the model generated by introducing depthwise separable convolution achieves better a performance and a much faster processing speed with 1/30 of the number of U-Net parameters. The developed system can segment pavement crack in real-time on an embedded device Jetson TX2 (25 FPS). The video taken in real-time experiments is released at https://youtu.be/3XIogk0fiG4.