You are correct. I just ran 'yum provides */apxs' on my CentOS install and httpd-devel returns as a package that includes it.
Below are the exact steps I took to get mod_auth_radius to work on CentOS 6.5. It works perfectly now.
Download mod_auth_radius-1.5.8.tar
Extract and then upload contents to /opt
go into the directory where the files where extracted
yum install httpd-devel.x86_64
yum install openssl-devel
apxs -i -a -c mod_auth_radius-2.0.c
nano /etc/httpd/conf/httpd.conf and add the below to the bottom of your config file. This will allow the virtual directory 'secure' to prompt a username and password. The credentials entered in will authenticate against your radius server. If running the LinOTP appliance it will talk to FreeRadius on LinOTP and in return validate against LinOTP. Once this is working you can then implement into your production Apache config. Below is for lab / examples only. The below config works on clean installs of Apache.
<IfModule radius_auth_module>
AddRadiusAuth
192.168.1.10:1812 yourpassword 5:3
AddRadiusCookieValid 5
</IfModule>
<Location /secure>
AuthType Basic
AuthName "LinOTP two-factor authentication for default site"
AuthBasicProvider radius
AuthRadiusCookieValid 5
AuthRadiusActive On
require valid-user
</Location>