Disclosed are an audio encoding method, to which BRIR/RIR parameterization is applied, and a method and device for reproducing audio by using parameterized BRIR/RIR information. The audio encoding method according to the present invention comprises the steps of: when an input audio signal is a binaural room impulse response (BRIR), dividing the input audio signal into a room impulse response (RIR) and a head-related impulse response (HRIR); applying a mixing time to the divided RIR or an RIR, which is input without division when the audio signal is the RIR, and dividing the mixing time-applied RIR into a direct/early reflection part and a late reverberation part; parameterizing a direct part characteristic on the basis of the divided direct/early reflection part; parameterizing an early reflection part characteristic on the basis of the divided direct/early reflection part; parameterizing a late reverberation part characteristic on the basis of the divided late reverberation part; and when the input audio signal is the BRIR, adding the divided HRIR and information of the parameterized RIR characteristic to an audio bitstream, and transmitting the same.