A method for rendering point cloud using a voxel grid, includes generating bounding box including all the point cloud and dividing the generated bounding box into voxels to make the voxel grid; and allocating at least one texture plane to each of the voxels of the voxel grid. Further, the method includes orthogonally projecting points within the voxel to the allocated texture planes to generate texture images; and rendering each voxel of the voxel grid by selecting one of the texture planes within the voxel by using central position of the voxel and the 3D camera position and rendering using the texture images corresponding to the selected texture plane.