A moving object collision warning system for a large vehicle may include: a rear camera module mounted on the rear of at least one side of a large vehicle, and configured to take an image of an object while facing the front of the large vehicle; an image receiving unit configured to receive the image taken by the rear camera module; a moving object determination unit configured to recognize the image received by the image receiving unit, extract an object included in the image, and determine whether the extracted object is a moving object, wherein the moving object includes one or more of a bicycle, a two-wheeled vehicle and a pedestrian; a moving object collision possibility determination unit configured to determine whether the moving object determined by the moving object determination unit is located in a preset danger zone, and output a collision risk signal; a warning unit configured to output a visual or audible warning signal to a driver of the large vehicle; and a control unit configured to operate the warning unit when the moving object collision possibility determination unit outputs the collision risk signal.