A data transfer system includes: a processor; a main memory that is connected to the processor; a peripheral controller that is connected to the processor; and a peripheral device that is connected to the peripheral controller and includes a register set, wherein the peripheral device transfers data stored in the register set to a predetermined memory region of the main memory or the processor by a DMA (Direct Memory Access) transfer, and the processor reads out the data transferred to the memory region by the DMA transfer without accessing to the peripheral device.