A camera auto-focus apparatus includes a lens scan control circuit, a lens position compensation circuit, and a lens position decision circuit. During an auto-focus procedure, the lens scan control circuit controls movement of a lens according to a plurality of lens positions, and obtains a plurality of focus values corresponding to the lens positions respectively. The lens position compensation circuit determines a position compensation value according to the movement of the lens. The lens position decision circuit determines a focused lens position according to the position compensation value, the lens positions and the focus values.