Provided are an apparatus for forming non-excavation water and sewage pipe lining for rehabilitation using a textile grid reinforcement material and mortar lining, which allows a textile grid reinforcement material to be continuously disposed and mortar lining to be formed thereon when an old water and sewage pipe is rehabilitated by forming mortar lining in the old water and sewage pipe to fundamentally suppress fine cracks generated on the coated mortar lining, allows the textile grid reinforcement material, to be applied so as to solve a problem of corrosion of the reinforcement material generated when a conventional reinforcing bar or a wire mesh is applied, and in comparison to a conventional method of forming lining of only mortar, allows the textile grid reinforcement material to be applied to reduce a thickness of mortar lining and to perform continuous construction so as to perform economical construction, and a method thereof.