Provided is an apparatus and method for transmitting and receiving data in a visible light communication system, the apparatus including a visible light communication (VLC) transceiver for converting a visible light signal received from a counterpart into an electrical signal and outputting the electrical signal, by using a light receiving device during a reception operation, and converting an electrical signal containing information into a visible light signal and transmitting the visible light signal to the counterpart, by using a light emitting device during a transmission operation, a VLC controller comprising a visible frame engine (VFE) for generating a visible frame and outputting the visible frame to the VLC transceiver, in which the VFE generates the visible frame for transmission to a counterpart during non-transmission of respective frames for communication at a sender and a receiver in order to provide visibility to a communication link, and a host controller for controlling the VLC controller and transmitting and receiving data to and from the VLC controller.