The present disclosure relates to an IoT device control system and method, including: by a user terminal, capturing an image of a real space that includes therein one or more IoT devices; when capturing the image, matching and registering at least one of a position and a posture of the user terminal with an IoT device selected by a user; displaying a control screen for the selected IoT device when the user terminal satisfies a condition, wherein the condition is determined by using at least one of the position and the posture of the user terminal matched and registered with the selected IoT device; and controlling the selected IoT device according to a user input received through the control screen. According to the present disclosure, a user can conveniently check and control an IoT device to be controlled, by using virtual reality and augmented reality.