The present invention relates to a vehicle intrusion detection system and a vehicle intrusion detection method, which are capable of effectively detecting various types of vehicle intrusions, minimizing incorrect detections, and lowering manufacturing costs of a system, and the vehicle intrusion detection system which is mounted in a vehicle to detect a vehicle intrusion comprises: a first sensor unit which detects a signal or light reflected off an object to generate a first detection signal, and which outputs the generated first detection signal; a control unit which controls an operation of the first sensor unit and receives the first detection signal from the first sensor unit; and a second sensor unit which detects a rotation, an inclination, or impact of the vehicle to generate a second detection signal, and which inputs the generated second detection signal to the control unit, wherein the first sensor unit and the second sensor unit are mounted on a single module.