The present invention relates to an antenna clamping device and a method of controlling the same, and particularly, the antenna clamping device includes a tilting rotation motor configured to rotate an antenna in a vertical direction, a tilting rotation prevention motor configured to lock or unlock a vertical rotation of the antenna, a rotating rotation motor configured to rotate the antenna in a horizontal direction, a rotating rotation prevention motor configured to lock or unlock a horizontal rotation of the antenna, and a controller configured to adjust a direction of the antenna by controlling the tilting rotation motor, the tilting rotation prevention motor, the rotating rotation motor, and the rotating rotation prevention motor, thereby improving operation convenience.