The present disclosure relates to a sensor network, Machine Type Communication (MTC), Machine-to-Machine (M2M) communication, and technology for Internet of Things (IoT). The present disclosure may be applied to intelligent services based on the above technologies, such as smart home, smart building, smart city, smart car, connected car, health care, digital education, smart retail, security and safety services. Embodiments of the present invention provide a device and a method for estimating a position between wireless apparatuses using a signal transmitted and received between wireless apparatuses in a wireless communication system. A device of a first wireless apparatus for estimating a position comprises: a transceiver for transmitting and receiving a signal to and from a second wireless apparatus; and a position estimator for estimating a position of the second wireless apparatus using a signal transmitted and received through the transceiver. The position estimator comprises a range estimator for estimating the distance between the first wireless apparatus and the second wireless apparatus on the basis of a first time difference from a time point at which a request range packet is transmitted to the second wireless apparatus to a time point at which the reception of a response range packet transmitted from the second wireless apparatus is sensed and a second time difference from a time point at which the reception of the required range packet is sensed by the second wireless apparatus to a time point at which the response range packet is transmitted.