A method for estimating torque transmission characteristics of a dry type clutch may include a data receiving step for receiving information of an estimated point representing torque transmission of the clutch according to an actuator stroke acquired in real time while a vehicle is travelling, a reference points moving step for moving a series of four reference points selected on an existing line representing a change in the torque transmission of the clutch according to the actuator stroke, based on the received information of the estimated point, and an update step for newly plotting a line representing the change in the torque transmission of the clutch according to the actuator stroke, using the four reference points which have been moved.