A radio communication apparatus includes a low-rate clock oscillator for generating a low-rate clock signal used for reception timing estimation; a frequency deviation measuring duration controller for determining a deviation measuring duration of measuring a frequency deviation of the low-rate clock signal in accordance with an intermittent time interval of the radio signal; a frequency deviation measuring section for measuring the frequency deviation of the low-rate clock signal over the deviation measuring duration; and a timing counter for correcting the frequency deviation of the low-rate clock signal, for measuring an intermittent span of the received signal in response to the low-rate clock signal after the correction, and for generating the estimated reception timing of the radio signal.