Failure detection apparatus for a particulate filter includes: a sensor having a particulate matter detection unit that outputs a signal corresponding to the amount of accumulated PM, and a heater unit that heats the particulate matter detection unit; a regeneration control unit that causes the heater unit to heat the particulate matter detection unit to a regeneration temperature allowing the particulate matter to be burned off; a start detection unit that determines the start of the internal combustion engine; failure determination unit that determines whether exhaust gas contains water droplets while the engine is in operation; a heating control unit that causes the heater unit to heat the particulate matter detection unit to a first temperature allowing the accumulated particulate matter to remain and the moisture included in the particulate matter to be removed; and failure determination unit that determines whether the filter has failure based on a sensor output value.