A heterogeneous device authentication system and method authenticate heterogeneous devices in various manners according to user environments. The heterogeneous device authentication system includes an authentication information matching device communication-connected with a plurality of heterogeneous devices and configured to match a plurality of user authentication information of different authentication means to the heterogeneous devices. The authentication information matching device includes a controller and a communication unit communication-connected with the heterogeneous devices. The controller: matches user authentication information selected from among the plurality of user authentication information to a device selected from among the heterogeneous devices based on a user input; stores the resulting matching information; and provides user authentication information matched to each of the heterogeneous devices based on the matching information such that the heterogeneous devices perform user authentication.