A vehicle sensing parking barricade device includes: an RFID (Radio Frequency Identification) tag which is attached to a vehicle for identifying the vehicle; a barricade bar which limits entrance of the vehicle; an RFID reader which is installed in a portion of the barricade bar and receives information from the RFID tag to determine whether or not the vehicle is authenticated to be parked; and a motor driver which receives a signal from the RFID reader 25 to drive the barricade bar 10 to limit the vehicle entrance depending on the vehicle authentication.