An apparatus for controlling an intelligent headlamp may include: a capturing unit configured to capture a forward image of a vehicle; a lamp driving unit configured to independently drive LEDs of a headlamp configured as a matrix LED; a storage unit configured to store an initial origin point, a changed origin point and an offset for adjusting the position of the headlamp; and a control unit configured to control the lamp driving unit to turn on the headlamp, detect an origin point from the forward image inputted from the capturing unit, set the offset for adjusting the position of the headlamp by comparing the detected origin point to the initial origin point or the changed origin point stored in the storage unit, and store a changed origin point, newly set based on the detected origin point, and the offset in the storage unit.