Disclosed is a wireless power receiving apparatus for wirelessly receiving power. The wireless power receiving apparatus includes a power receiving unit configured to wirelessly receive power, a charging unit configured to receive the power from the power receiving unit, and supply the power to a battery, and a control unit configured to determine an output voltage, which enables a charging efficiency of power, supplied to the battery, to be the maximum, based on an output capacity output from the power receiving unit, and control the power receiving unit for the battery to be charged with the output voltage.