There is provided a concurrent driving capacitive touch sensing device including a drive end, a capacitive sensing matrix and a detection end. The capacitive sensing matrix includes a plurality of drive electrodes and sense electrodes crossing to each other. The drive end is configured to concurrently input cycle data of encoded and modulated drive signals into the drive electrodes. The detection end is coupled to one of the sense electrodes and configured to acquire a predetermined number of sampled values corresponding to the cycle data associated with the coupled sense electrode and generate a response signal to the drive end according to the sampled values, wherein the drive end resends the cycle data according to the response signal.