Provided is a vehicle radar apparatus for providing three-dimensional (3D) information about an environment. The vehicle radar apparatus may include a transmitter configured to transmit electromagnetic waves, a receiver configured to receive reflected electromagnetic waves, and a signal processor configured to extract 3D information about the environment based on the reflected electromagnetic waves. The transmitter may transmit electromagnetic waves to the environment by performing a two-dimensional (2D) scan, and the receiver may receive the reflected electromagnetic waves by performing a one-dimensional (1 D) scan. Alternatively, the transmitter may transmit the electromagnetic waves to the environment by performing a 1 D scan, and the receiver may receive the reflected electromagnetic waves by performing a 2D scan.