A rotary exhaust heat recovery apparatus may include an exhaust gas pipe including a bypass path into which a high-temperature exhaust gas is introduced and bypassed and an extension part extending from a side of the bypass path in a semi-cylindrical shape to allow the exhaust gas to pass and a semi-cylindrical heat exchanger rotatably accommodated within the exhaust gas pipe, allowing heat exchange to be performed between the high-temperature exhaust gas supplied from the bypass path and a low-temperature coolant introduced through a coolant inlet, in which a side surface of the heat exchanger includes a diameter surface formed as a flat surface and an arc surface formed as a curved surface, and the diameter surface of the heat exchanger has a surface with a rotation axis of the heat exchanger as a reference thereof which is closed and another surface provided with exhaust gas inlets.