A vehicle heterogeneous communication system for efficient CAN message transmission between heterogeneous communication controllers in a vehicle includes: a first transceiving controller transmitting a CAN message delivery Ethernet frame to which an SSD4 symbol added by changing an SSD size compared with a general Ethernet frame; and a second transceiving controller recognizing the received Ethernet frame as the CAN message delivery Ethernet frame when there is the SSD4 symbol by checking the SSD of Ethernet frame received from the first transceiving controller, and performing CAN message delivery Ethernet frame processing in which a media access control (MAC), Internet protocol (IP), and user datagram protocol (UDP) analysis step in the general Ethernet frame processing process is omitted.