Provided is a sealing apparatus capable of linear and rotational motion including a housing; a hollow first shaft penetrating and coupled to the housing; a first sealing member provided between the housing and the first shaft to seal therebetween; a second shaft of which at least a part is inserted into the first shaft; a second sealing member provided between the first shaft and the second shaft to seal therebetween; and a third sealing member provided on either an inner circumferential surface of the first shaft or an outer circumferential surface of the second shaft.