A dynamic routing device for a CAN message of a vehicle includes: a message reception unit configured to receive a message of a specific ID transmitted from a source controller and a designated specific message from at least one destination controller; a message reception filter configured to dynamically change based on at least one piece of information included in the specific message; and a gateway controller including the message reception unit and the message reception filter, wherein the gateway controller is configured to generate dynamic routing table information based on information about the specific message, check reception of a message with respect to only a message ID set to the message reception filter, and perform message routing on a destination controller designated in the dynamic routing table.