Disclosed is a method of efficiently removing noise. The method includes: deciding a noise section by attenuating characteristics of a voice in a voice signal mixed with noise; determining the type of the noise in the decided noise section; and removing the noise from the noise-mixed voice signal by using noise information obtained through the determination. A clustering method or a similarity level measurement method is used to determine the type of the noise. Even in a voice signal that is mixed with various types of noise, noise can be precisely removed and thus distortion of a sound quality can be minimized.