An apparatus for driving an ultrasonic sensor according to an embodiment of the present invention may comprise: a driving unit for providing a transmission pulse to the ultrasonic sensor to transmit an ultrasonic wave and for receiving an ultrasonic echo for the ultrasonic wave; an amplifier for amplifying an electrical signal for the ultrasonic echo; an analog-to-digital converter for converting the amplified electrical signal into an original digital signal; a signal processing unit for performing envelope-extraction-processing on the original digital signal and generating an envelope-extraction-processed signal; and a control unit for outputting a distance between the ultrasonic sensor and an external object based on the original digital signal and the envelope-extraction-processed signal, wherein the control unit monitors a frequency or phase change of vibration of a transducer of the ultrasonic sensor based on the original digital signal at least during a second period and analyses the envelope-extraction-processed signal during at least a third period.