An autonomous driving control apparatus may include a determination device that determines whether a mode switch event occurs to set a driving mode of the vehicle to a first mode or a second mode, a route generation device that sets a destination in a case that the first mode is set as the driving mode and generates a driving route based on the set destination, and a driving control device that controls an autonomous driving of the vehicle based on the generated driving route in the case that the first mode is set as the driving mode and to control the driving of the vehicle while maintaininga current driving lane in the case that the second mode is set as the driving mode.