A system for controlling a vehicle actuated signal includes: a vehicle terminal that transmits actuated signal light information and estimated arrival time information when an actuated signal lane on a travel route is reserved to be used; a telematics server that requests a signal change reservation based on the actuated signal light information and the estimated arrival time information; and a traffic light control server that sets the signal change reservation in response to a request of the telematics server and controls a signal of the actuated signal light based on set reservation information.