An apparatus and a method for controlling parking-out of a vehicle are provided. The apparatus includes a determination processor configured to determine whether a turn switch is operated while autonomous parking of the vehicle is in progress, a mode converter configured to convert an operation mode of the vehicle from a parking mode to a parking-out mode if it is determined that the turn switch is operated while the autonomous parking of the vehicle is in progress and determine a parking-out direction in response to the operation of the turn switch, a path generator configured to generate a parking-out path based on a parking progress state of the vehicle and the determined parking-out direction when the operation mode is converted into the parking-out mode, and a driving controller configured to control the parking-out of the vehicle along the generated parking-out path.