A system, apparatus, and method for precisely estimating a three-dimensional (3D) position and a direction. The 3D position and direction estimation apparatus may estimate a distance between at least one receiver and at least one transmitter and a direction of a remote device, based on intensity information of a signal measured at the at least one receiver, may sequentially select the minimum number of intensity information for estimating the 3D position and the direction of the remote device, in a descending order of robustness against noise, based on the estimated distance and direction of the remote device, and may precisely estimate the 3D position and the direction of the remote device based on the selected intensity information.