A fuel heating device for a vehicle may include a start sensor detecting a starting of a vehicle; a controller area network (CAN) communication device transmitting and receiving various signals to and from an engine control device; a resistance sensor measuring a resistance of a heater provided inside an injector; and a controller controlling the resistance sensor to measure the resistance of the heater when the starting of the vehicle is detected in a state in which a failure occurs in the CAN communication device, converting the measured resistance of the heater into a temperature of a fuel, and operating the heater to heat the fuel to a reference temperature when the converted temperature is lower than or equal to a threshold.