Disclosed herein is a real-time dynamic non-planar projection apparatus and method, which can reduce visual errors, such as distortion of a screen image or deviation from a border area, upon projecting screen images from a projector onto the surface of a non-planar object that is moved in real time. The presented real-time dynamic non-planar projection apparatus includes a preprocessing unit for preprocessing data related to a static part of a screen image to be projected onto a non-planar surface. A real-time projection unit classifies non-planar objects in the screen image to be projected onto the non-planar surface into a rigid body and a non-rigid body using data output from the preprocessing unit, respectively renders the rigid body and the non-rigid body depending on a viewer's current viewpoint, and projects rendered results onto the non-planar surface via projection mapping.