A platooning control apparatus, a system including the same, and a method thereof are provided. disclosure The platooning control apparatus may include: a processor configured to determine a possibility of a collision during platooning, and when the possibility of the collision exists, perform collision avoidance control or braking control depending on whether an anti-lock brake system (ABS) is operated; and a storage configured to store data obtained by the processor and an algorithm for driving the processor, wherein the apparatus may calculate a depressurization amount of the braking pressure depending on a vehicle speed, a vehicle weight, and a state of a road surface when the avoidance control is possible during ABS operation, and may control eccentric braking depending on the depressurization amount of the braking pressure, to perform the avoidance control.