A geomagnetic sensor calibration apparatus includes a geomagnetic sensor which measures at least one value of Earth's magnetic field, an initial point estimator which estimates first central points regarding the at least one value of the Earth's magnetic field by using a first linear function, a central point estimator which estimates second central points by using a second linear function and the estimated first central points, and a controller which determines whether calibrating of the geomagnetic sensor is necessary based on the estimated first central points and controls the central point estimator to estimate second central points based on whether calibration is determined to be necessary.