The present invention provides a terminal, apparatus and method for providing a customized auto-valet parking service. The server device includes a service registration management unit for receiving auto-valet parking profile information that includes information about one or more of a user, a vehicle, and a mobile terminal, and a parking map management unit for generating customized parking slots suitable for the user using the auto-valet parking profile information, and providing a parking area map, which includes information about the customized parking slots, to the mobile terminal. The parking map management unit receives information about a final slot selected by the user from among the customized parking slots via the mobile terminal, and provides a route to the final slot.