A safety monitoring apparatus and method thereof for human-driven vehicle are provided. The safety monitoring apparatus includes a sensing unit, a processing unit, and a warning unit. The sensing unit and the warning unit are electrically connected to the processing unit, respectively. The sensing unit is arranged on a steering member of the human-driven vehicle and is used for sensing whether the steering member is in contact with a hand of a driver and generating a sensing signal accordingly. The processing unit determines whether the hand of the driver is placed on the steering member. The warning unit is used for generating a safety warning message. When the processing unit determines that the hand of the driver has not been placed on the steering member according to the sensing signal, the processing unit drives the warning unit to generate the safety warning message to warn the driver.