An X-ray imaging apparatus uses a camera image to set various types of parameters related to X-ray imaging including an X-ray irradiation region and automatically controls X-ray imaging. An X-ray imaging apparatus includes an imaging device that captures a camera image, an X-ray source on which a collimator adjusting an X-ray irradiation region is mounted, a storage unit that maps and stores an X-ray imaging region for each of a plurality of X-ray imaging protocols, an input unit that receives a selection of one among the X-ray imaging protocols from the plurality of X-ray imaging protocols, and a controller that extracts an X-ray imaging region mapped to the selected X-ray imaging protocol from the camera image and controls the collimator such that the X-ray irradiation region corresponds to the extracted X-ray imaging region.