Disclosed are an induction heating device and a vessel sensing method of the induction heating device. The induction heating device determines whether a vessel is present in a heating region corresponding to a working coil using two sensing methods. In more detail, the induction heating device determines whether a vessel is present in the heating region by sequentially performing first vessel sensing based on a resonance current value of the working coil and second vessel sensing based on a sensing value obtained by a vessel sensor. It is possible to precisely sense a vessel by applying the two sensing methods as described above.