A scene flow estimation method and apparatus are provided. The scene flow estimation method includes receiving a first feature pyramid and a second feature pyramid by encoding a first frame and a second frame of an input image through the same encoder, extracting a depth feature based on the first feature pyramid, extracting a motion feature based on the first feature pyramid and the second feature pyramid, generating an overall feature based on the depth feature and the motion feature, and estimating a scene flow based on the overall feature.