A terminal, a server, and a system for authenticating biometric information and a biometric information authentication method are provided. A method, performed by a terminal, of registering biometric information includes: transmitting a registration request and biometric capability information of the terminal to a server; receiving biometric capability information of the server from the server; acquiring a user's biometric information based on the biometric capability information of the server; acquiring a pseudonymous identifier (PI) and auxiliary data (AD) based on the user's biometric information; and transmitting the PI and the AD to the server.