An error recovery method performed in an end node of an Ethernet-based vehicle network includes: detecting, by a physical (PHY) layer processor of a PHY layer of the end node, a physical error of a message, when the message is received at the PHY layer of the end node; detecting, by a controller processor of a controller included in the end node, a logical error of the message; and classifying, by the controller processor, types of the physical error and the logical error.