We consider maximal regularity in the $H^p$ sense for the Cauchy problem $u'(t) + Au(t) = f(t)\ (t\in \R)$, where $A$ is a closed operator on a Banach space $X$ and $f$ is an $X$-valued function defined on $\R$. We prove that if $X$ is an AUMD Banach space, then $A$ satisfies $H^p$-maximal regularity if and only if $A$ is Rademacher sectorial of type $<\frac{\pi}{2}$. Moreover we find an operator $A$ with $H^p$-maximal regularity that does not have the classical $L^p$-maximal regularity. We prove a related Mikhlin type theorem for operator valued Fourier multipliers on Hardy spaces $H^p(\R;X)$, in the case when $X$ is an AUMD Banach space.