A mobile X-ray imaging apparatus includes a main body, a driving wheel provided in a lower portion of the main body and capable of moving the main body, a drive motor configured to drive the driving wheel, a motor encoder configured to detect a rotation speed of the drive motor, a driving wheel rotation state detector configured to detect a rotation state of the driving wheel, the driving wheel rotation state detector comprising a rotation state detection sensor located at the main body, and a bracket coaxially connected to the driving wheel and allowing the rotation state detection sensor to detect an ON/OFF state according to the rotation state of the driving wheel, and a controller configured to control the drive motor based on information detected by the motor encoder and the driving wheel rotation state detector.