The invention relates to a vehicle localization apparatus and method. The vehicle localization method includes obtaining a stereo image while a vehicle is driven, extracting a matching vector from thestereo image while the vehicle is driven, loading a map vector of a current location based on GPS information in previously constructed map data, matching the extracted matching vector with the map vector, and estimating a positioning coordinate corresponding to the extracted matching vector as a current location of the vehicle when the extracted matching vector and the map vector meet a condition.