A cup holding apparatus and a serving robot including the cup holding apparatus are provided. The cup holding apparatus may include a first support member configured to support a cup and having a lower surface that has convex shape; a second support member having an upper surface that has a concave shape and faces the lower surface of the first support member; a third plate provided between the first support member and the second support member; and a plurality of rolling members that pass through and are rotatably supported by the third plate, and contact the lower surface of the first support member and the upper surface of the second support member.