The present invention provides an apparatus and a method for controlling a vehicle based on a degree of fatigue of a driver. The apparatus includes: a fatigue degree learning device configured to learn a degree of initial fatigue of the driver based on biometric information of the driver received from a sensor; a fatigue degree monitoring device configured to, when learning the degree of initial fatigue of the driver is completed and driving of a vehicle is started, monitor the degree of fatigue of the driver by receiving the biometric information of the driver from the sensor, and output a control signal corresponding to the degree of fatigue of the driver, and a driving controller configured to control the driving of the vehicle based on the control signal.