A radar point cloud data processing method and device, an apparatus, and storage medium are provided, which are related to technical fields of radar point cloud, automatic driving, and deep learning. An implementation includes: determining a target location area where a target object is located by utilizing a target detection box in the radar point cloud data; removing each point of the target object in the target location area from the radar point cloud data; and adding an object model to the target location area. By applying embodiments of the present disclosure, richer radar point cloud data may be obtained by removing the target object from the radar point cloud data and adding the needed three-dimensional model to the target location area in the radar point cloud data.