An X-ray imaging apparatus according to an embodiment of the present invention includes an X-ray generator that irradiates an object with X-rays during an exposure period; an X-ray detector that detects X-rays transmitted through the object; and a movement unit that moves the X-ray generator and the X-ray detector, wherein the X-ray generator is moved along an arc having a radius of curvature within a range with respect to a rotational axis, wherein the motion along the arc starts at a first time point and ends at a second time point, wherein the X-ray detector is moved in a linear direction having an angle with respect to a plane of the arc during at least a partial period of a period between the first time point and the second time point, wherein the motion in a linear direction starts at a third time point that is the same as or later than the first time point and ends at a fourth time point that is the same as or earlier than the second time point, and a first difference between the first time point and the second time point is larger than or equal to a second difference between the third time point and the fourth time point.