Provided are an apparatus and method for sensory substitution based on depth-time mapping. The apparatus for sensory substitution based on depth-time mapping according to the present invention includes an image segmentation unit configured to generate a plurality of depth images by segmenting three-dimensional (3D) image information based on depth, a sensory substitution unit configured to generate pieces of sensory substitution information by converting at least any one of the plurality of depth images into preset sensory information, a depth-time mapping unit configured to map the sensory substitution information to a time axis based on depth information corresponding to the depth image, and an output unit configured to sequentially output the pieces of sensory substitution information in order mapped to the time axis.