A magnetic material sensing device which senses a magnetic material by detecting a signal which the magnetic material emits when an alternating magnetic field is applied, the magnetic material sensing device includes: an exciting coil which applies the alternating magnetic field; a receiving coil which receives a first signal which is generated due to the alternating magnetic field; a noise signal removing part that removes, from the first signal, a noise signal of an object which reflects the alternating magnetic field; and a detecting part that detects, from the noise signal-removed signal, the signal emitted from the magnetic material.