A mobile communication device and an impedance matching method thereof are provided. The mobile communication device includes an antenna, a power amplifier, a tunable matching circuit, a power detection circuit and a controller. The tunable matching circuit determines an output impedance encountered by a radio frequency (RF) signal transmitted by the power amplifier to the antenna when the RF signal enters the tunable matching circuit. The power detection circuit detects a forward power of the RF signal entering the antenna and a reflected power of the antenna. The controller tunes the tunable matching circuit according to a frequency range currently used by the mobile communication device, the forward power and the reflected power to steer the output impedance toward a corresponding load-pull impedance that the power amplifier has in the frequency range.