A method of extracting impedance parameters of a three-phase motor utilizes a five-terminal network including first to third winding wires and opposite shaft ends. The method includes connecting two terminals, selected from among the winding wires and the shaft ends, to input and output terminals in order to measure voltage and current of the terminals and to extract input impedance parameters of the five-terminal network, extracting conversion parameters including voltage and current transfer matrices in a common mode, in which the winding wires are commonly connected to the input and output terminals, and in a differential mode, in which the winding wires are differentially connected to the input and output terminals, and calculating impedance parameters in a mixed mode, in which transfer impedance components for the shaft ends in the common mode and the differential mode are mixed, using the extracted input impedance parameters and conversion parameters.