A system for preventing a steering pull in a vehicle includes: a sensor unit configured to generate at least one sensing value for at least one of a steering torque, a steering angle, a vehicle speed and a yaw rate of a vehicle; an ECU configured to determine whether or not the vehicle is in a straightforward driving state, based on a predefined straightforward driving state determination criterion by using the at least one sensing value provided from the sensor unit, determine whether or not a steering pull occurs in the vehicle, based on a predefined steering pull determination criterion when it is determined that the vehicle is in the straightforward driving state, and compensate for the steering torque of the vehicle when it is determined that the steering pull occurs in the vehicle; and a motor driving unit configured to generate steering power under the control of the ECU.