A pulse radio receiving apparatus includes a reference waveform generation section that generates a reference waveform signal, a delay section that generates a plurality of delayed waveform signals by delaying the reference waveform signal by different amounts of delay, a correlation calculation section that generates a plurality of correlation value signals showing correlation values between a received signal, and the reference waveform signal and the delayed waveform signals, a determination section that compares predetermined combinations of the plurality of correlation value signals and generates a difference detection signal showing a direction and degree of a phase shift between the received signal and the reference waveform signal according to comparison results, and a synchronization control section that controls a phase of the reference waveform signal generated by the reference waveform signal generation section based on the difference detection signal.