An exhaust heat recovery apparatus may include a bypass valve that is rotatably provided on a bypass path through which a high-temperature exhaust gas passes to open or close the bypass path, a heat exchanger that is communicatively connected to the bypass path to allow heat exchange to be performed between the high-temperature exhaust gas supplied from the bypass path and a low-temperature coolant introduced through a coolant inlet when the bypass path is closed, a valve actuator including a rod moved up and down by expansion or contraction of a wax sealed therein, and a connection part that converts an up and down motion of the rod into a rotary motion to allow the bypass valve to open or close the bypass path along with movement of the rod.