The present disclosure provides an apparatus and method for detecting a foreign object in a wireless power transmitting system. The wireless power transmitting apparatus measures an initial transmission power transmitted from the primary core block and performs foreign object detection on the basis of the initial transmission power, once it is found that an initial voltage of an output terminal of the wireless power receiving apparatus connected to an external load is within the range of a reference voltage. By performing foreign object detection while a wireless power receiving apparatus is in an initial setting completion state, before the output of the wireless power receiving apparatus is turned on, delay in detecting foreign objects may be reduced, and a risk due to heating of a foreign object may be avoided.