Disclosed is a wireless power receiving apparatus, which includes: a residual power collecting unit configured to collect residual power remained after supplying an RF power signal to a load while receiving the RF power signal through a resonator; a power selecting unit configured to select one of the RF power signal and a power signal of an auxiliary battery according to a reception state of the RF power signal; a communication unit configured to receive the power signal of the auxiliary battery and perform wireless communication with the wireless power transmitting apparatus, when a supply of power to the load is required in a state in which the transmission of the RF power signal from the wireless power transmitting apparatus is stopped; and a controller configured to request the transmission of the RF power signal to be supplied to the load.