An exhaust pipe structure of a vehicle having a left manifold disposed in front of an engine and a right manifold disposed behind the engine along a longitudinal direction of the vehicle, which are connected by an underbody catalytic converter, the exhaust pipe structure may include a left exhaust pipe connected to the left manifold and extending toward the rear of the engine, a right exhaust pipe having a straight portion connected to the right manifold and extending toward the front of the engine and a curved portion bending from the straight portion toward the rear of the engine, and a conjunction, one end of which is connected to and communicates with the end of the curved portion of the right exhaust pipe and the end of the left exhaust pipe and the other end of which is connected to the underbody catalytic converter.