A sensor position control apparatus and method that includes a guide rail formed to be elongated along one direction set to a longitudinal direction thereof and a position control unit coupled to the guide rail and configured to slide along the longitudinal direction of the guide rail. A sensor mount unit is connected to be moved together with the position control unit and has a sensor mounted on one surface thereof. In addition, an angle control unit is configured to change a direction which one surface of the sensor mounting unit faces and a position control driving unit is configured to transmit power to the position control unit. An angle control driving unit is configured to transmit power to the angle control unit.