The present application discloses a method and apparatus for annotating point cloud data. A specific implementation of the method includes: collecting data in a given scenario by using a laser radar and a non-laser radar sensor to respectively obtain point cloud data and sensor data; segmenting and tracking the point cloud data to obtain point cloud segmentation and tracking results; recognizing and tracking feature objects in the sensor data to obtain feature object recognition and tracking results; correcting the point cloud segmentation and tracking results by using the feature object recognition and tracking results, to obtain confidence levels of the point cloud recognition and tracking results; and determining a point cloud segmentation and tracking result whose confidence level is greater than a confidence level threshold as a point cloud annotation result. This implementation reduces the amount of manual work required for annotating point cloud data, thereby reducing the annotation costs.