A method predicts transfer torque of a dry clutch in a vehicle, in which a characteristic of transfer torque of the dry clutch caused by a stroke of a clutch actuator is accurately detected in a process of detecting a characteristic of a transmission when the vehicle is finished in an assembly line, and is applied to the control of the dry clutch using the clutch actuator, thereby previously preventing a phenomenon in which an excessive slip and an impact occur at the dry clutch and thus improving shift performance, for instance, securing durability of the dry clutch, or obtaining smooth shift feeling.