A vehicle motor control apparatus may include a motor device, a detecting device configured to detect a ripple voltage of the motor device and a controller configured to control driving of the motor device according to the ripple voltage detected by the detecting device, wherein the controller is configured to analyze the detected ripple voltage, measures a time required for a value of the ripple voltage to be maintained within a reference range for a predetermined time after reaching the reference range, and determines a compensation value according to the measured time, when the motor device stops. The controller applies the determined compensation value to control driving of the motor device, when the motor device is driven again.