An exhaust heat recovery system is provided. The system includes a branch pipe that has branch fluid passages that are formed to be connected with an exhaust gas source emitting emit exhaust gas. a valve at least partially opens or closes the branch fluid passages to selectively introduce the exhaust gas into at least one of the branch fluid passages. Additionally, a thermoelectric module performs thermoelectric power generation by selectively using exhaust heat of the exhaust gas passing through a specific branch fluid passage of the branch fluid passages.