An apparatus and method for capturing a color image and a depth image are utilized as a source of obtaining a three-dimensional (3D) image. The apparatus for capturing the color image and the depth image may include a filtering unit to employ a frame having a polarity which includes an external frame to support a plurality of filters which filter at least one of a visible ray and an infrared (IR) ray from a ray input via a lens, a driving unit to move the filtering unit by pushing or pulling the external frame based on a polarity of an applied signal, and a control unit to control a voltage to be applied to the driving unit based on a distance between the filtering unit and the driving unit.