Provided is a massage apparatus including: a module drive motor; a module motion shaft provided to rotate by a driving force of the module drive motor; a motion guider provided to move in an extension direction of the module motion shaft as the module motion shaft rotates; a tilt drive motor; a tilt drive shaft arranged in parallel with the module motion shaft, and provided to rotate by a driving force of the tilt drive motor; a rotation axis tilting member coupled to the tilt drive shaft to rotate together with the tilt drive shaft, the rotation axis tilting member including a tilting portion having a rotation axis inclined with respect to the tilt drive shaft; and a roller bracket rotatably supporting a massage roller and connected to the motion guider and the rotation axis tilting member.