A fast handoff method of an Access Router includes receiving and storing at an Access Point a Router Advertisement message periodically sent from the Access Router to which the Access Point is connected, the Access Point being connected to at least one mobile node in wireless manner and supporting services to the at least one mobile node; generating at least one Care-of Address (CoA) at the Access Point, performing Duplicate Address detection, and storing the CoAs for which the Duplicate Address detection is successfully completed; forming, when a new mobile node enters a service-available range of the Access Point, a link to the new mobile node at the Access Point, including any of the stored CoAs in the Router Advertisement message, and sending the Router Advertisement message including the stored CoA to the new mobile node; and communicating the new mobile node to a network using the CoA included in the sent Router Advertisement message.