In a method of controlling an electronic parking brake system to overcome an existing problem occurring in drive away release (DAR) mode, a control unit monitors whether or not a gear change signal is input in a vehicle stopped state, a P position state, or a parking brake applied state. When the gear change signal is input, an accelerator pedal input value of a driver is compared with a predetermined pedal input set value while a gear position of a transmission is maintained in the P position. When the accelerator pedal input value does not exceed the predetermined pedal input set value, a control operation is performed for automatic releasing of a parking brake. When a set time has passed after start of the control operation for the automatic releasing, a control operation of changing the gear position to the D position or the R position is performed.