An exhaust heat recovery apparatus includes a reciprocating internal combustion engine in which a piston reciprocates in a cylinder to generate motive power; and a Stirling engine that recovers the thermal energy of the exhaust gas discharged from the internal combustion engine and converts the thermal energy into kinetic energy. The Stirling engine is united with the internal combustion engine. A heater that the Stirling engine includes is disposed in an exhaust manifold of the internal combustion engine. With this configuration, it is possible to restrict reduction in the power output from the exhaust heat recovery means.