Disclosed are a road surface condition sensing system and method. The road surface condition sensing system includes an acoustic sensing unit for sensing an acoustic signal of a floor of a vehicle, and a control unit for calculating a feature vector by Fourier transforming the sensed acoustic signal, comparing the calculated feature vector with a plurality of previously stored feature vectors and returning a first feature vector having the smallest relative distance to the calculated feature vector, and outputting a road surface condition corresponding to the first feature vector.