Provided are an ultrasonic sensing device and method for a vehicle, which may block ground noise and pass a signal reflected from an opponent vehicle traveling in a blind spot. The ultrasonic sensing device for the vehicle includes a band pass filter configured to filter a first input signal reflected by an object according to a predetermined first bandwidth to output a first filtering signal or filter a second input signal on which a 2N decimation operation has been performed according to a predetermined second bandwidth to output a second filtering signal, and a calculation unit configured to perform the 2N decimation operation on the first filtering signal output from the band pass filter and deliver the first filtering signal on which the 2N decimation operation has been performed to the band pass filter as the second input signal.