A method of compensating for a current sensor offset of an inverter includes: calculating a current sensor offset based on an output value of a current sensor, which detects an output current of the inverter, after a vehicle has started and before a current control of the inverter is performed; actuating the inverter to perform the current control according to the calculated current sensor offset; determining whether the inverter enters a burst mode while performing the current control; and re-calculating the current sensor offset based on the output value of the current sensor when the inverter is determined to enter the burst mode.