The present invention relates to a technology of compensating for steering torque. More particularly, the present invention provides a steering torque compensating apparatus including: a reference object recognition unit that recognizes a fixed reference object arranged in correspondence to a lane of a road by using a camera of a vehicle; a distance measurement unit that measures a distance difference between the vehicle and the fixed reference object; and an operation determination unit that calculates a distance change rate that is a change rate of the distance difference per time and determines whether the vehicle is driven forwards or rearwards, by using the distance change rate, and a steering torque compensating method.