diff --git a/frontend/src/components/whiteboard/sidebar/Sidebar.tsx b/frontend/src/components/whiteboard/sidebar/Sidebar.tsx
index c1f012dac..4218a6ac8 100644
--- a/frontend/src/components/whiteboard/sidebar/Sidebar.tsx
+++ b/frontend/src/components/whiteboard/sidebar/Sidebar.tsx
@@ -1,14 +1,69 @@
 'use client';
 
-// import TextPropertyBar from '@/components/whiteboard/sidebar/properties/TextPropertyBar';
+import { useState } from 'react';
+
+// 패널 컴포넌트들 임포트
+import ShapePanel from '@/components/whiteboard/sidebar/panels/ShapePanel';
+
+// TODO: 스토어 훅 임포트 필요 (추후 상태 관리 로직 교체)
+// import { useWhiteboardStore } from '@/store/useWhiteboardStore';
+
+// 사이드 바 선택된 요소 타입
+type SelectionType = 'shape' | null;
 
 export default function Sidebar() {
-  // TODO : store에서 selectedItemType 가져온 후 조건부 렌더링
+  // TODO : 상태 관리 로직 교체 필요
+  // 현재 : useState로 로컬 상태 관리 -> 테스트용도
+  const [selectionType, setSelectionType] = useState<SelectionType>('shape');
+
+  // 추후 : Store에서 선택된 요소의 데이터 구독하는 방식으로 변경 예정
+  // const selectedId = useWhiteboardStore((state) => state.selectedElementId);
+  // const elements = useWhiteboardStore((state) => state.elements);
+  // const updateElement = useWhiteboardStore((state) => state.updateElement);
+  // const selectedElement = selectedId ? elements[selectedId] : null;
+  // const selectionType = selectedElement ? selectedElement.type : 'none';
+
+  // TODO : 데이터 매핑
+  // const strokeColor = selectedElement?.strokeColor || '#000000';
+  // const backgroundColor = selectedElement?.backgroundColor || 'transparent';
+  const [strokeColor, setStrokeColor] = useState('#000000');
+  const [backgroundColor, setBackgroundColor] = useState('transparent');
+
+  // 선택 타입에 따른 표시될 헤더 제목
+  const getHeaderTitle = () => {
+    switch (selectionType) {
+      case 'shape':
+        return 'Shape';
+      default:
+        return '';
+    }
+  };
 
   return (
-    <aside className="fixed top-20 left-4 z-40 flex flex-col gap-4">
-      {/* Todo : 상단의 Toolbar에서 선택된 요소에 따른 사이드바 조건부 렌더링*/}
-      {/* <TextPropertyBar /> */}
+    <aside className="absolute top-1/2 left-2 z-1 flex max-h-[calc(100vh-2rem)] w-56 -translate-y-1/2 flex-col overflow-y-auto rounded-lg border border-neutral-200 bg-white p-4 shadow-xl">
+      {/* Sidebar Title */}
+      <div className="mb-1">
+        <h2 className="text-lg font-bold text-neutral-800">
+          {getHeaderTitle()}
+        </h2>
+      </div>
+
+      {/* 패널 영역 */}
+      <div className="flex-1">
+        {/* shape */}
+        {selectionType === 'shape' && (
+          <ShapePanel
+            strokeColor={strokeColor}
+            backgroundColor={backgroundColor}
+            // TODO: 업데이트 함수 교체
+            // 변경된 값 스토어에 전달하는 방식 변경 필요
+            // onChangeStrokeColor={(newColor) => updateElement(selectedId, { strokeColor: newColor })}
+            onChangeStrokeColor={setStrokeColor}
+            // onChangeBackgroundColor={(newColor) => updateElement(selectedId, { backgroundColor: newColor })}
+            onChangeBackgroundColor={setBackgroundColor}
+          />
+        )}
+      </div>
     </aside>
   );
 }
diff --git a/frontend/src/components/whiteboard/sidebar/panels/ShapePanel.tsx b/frontend/src/components/whiteboard/sidebar/panels/ShapePanel.tsx
new file mode 100644
index 000000000..c21cd4e85
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/panels/ShapePanel.tsx
@@ -0,0 +1,34 @@
+'use client';
+
+import StrokeColorSection from '@/components/whiteboard/sidebar/sections/StrokeColorSection';
+import BackgroundColorSection from '@/components/whiteboard/sidebar/sections/BackgroundColorSection';
+
+// ShapePanel 컴포넌트
+interface ShapePanelProps {
+  strokeColor: string;
+  backgroundColor: string;
+  onChangeStrokeColor: (color: string) => void;
+  onChangeBackgroundColor: (color: string) => void;
+}
+
+export default function ShapePanel({
+  strokeColor,
+  backgroundColor,
+  onChangeStrokeColor,
+  onChangeBackgroundColor,
+}: ShapePanelProps) {
+  return (
+    <div className="flex flex-col gap-2">
+      {/* 도형 테두리 색상 설정 섹션 */}
+      <StrokeColorSection color={strokeColor} onChange={onChangeStrokeColor} />
+
+      {/* 도형 배경 색상 설정 섹션 */}
+      <BackgroundColorSection
+        color={backgroundColor}
+        onChange={onChangeBackgroundColor}
+      />
+
+      {/* 도형 관련 설정 추가 */}
+    </div>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/properties/TextPropertyBar.tsx b/frontend/src/components/whiteboard/sidebar/properties/TextPropertyBar.tsx
deleted file mode 100644
index e69de29bb..000000000
diff --git a/frontend/src/components/whiteboard/sidebar/sections/BackgroundColorSection.tsx b/frontend/src/components/whiteboard/sidebar/sections/BackgroundColorSection.tsx
new file mode 100644
index 000000000..e2027c6ca
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/sections/BackgroundColorSection.tsx
@@ -0,0 +1,21 @@
+'use client';
+
+import Section from '@/components/whiteboard/sidebar/ui/Section';
+import ColorPicker from '@/components/whiteboard/sidebar/ui/ColorPicker';
+
+// 배경 색상 설정 section
+interface BackgroundColorSectionProps {
+  color: string;
+  onChange: (color: string) => void;
+}
+
+export default function BackgroundColorSection({
+  color,
+  onChange,
+}: BackgroundColorSectionProps) {
+  return (
+    <Section title="Background">
+      <ColorPicker color={color} onChange={onChange} allowTransparent={true} />
+    </Section>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/sections/StrokeColorSection.tsx b/frontend/src/components/whiteboard/sidebar/sections/StrokeColorSection.tsx
new file mode 100644
index 000000000..673f61095
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/sections/StrokeColorSection.tsx
@@ -0,0 +1,21 @@
+'use client';
+
+import Section from '@/components/whiteboard/sidebar/ui/Section';
+import ColorPicker from '@/components/whiteboard/sidebar/ui/ColorPicker';
+
+// 테두리 색상 설정 section
+interface StrokeColorSectionProps {
+  color: string;
+  onChange: (color: string) => void;
+}
+
+export default function StrokeColorSection({
+  color,
+  onChange,
+}: StrokeColorSectionProps) {
+  return (
+    <Section title="Stroke">
+      <ColorPicker color={color} onChange={onChange} allowTransparent={true} />
+    </Section>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/ui/ColorPicker.tsx b/frontend/src/components/whiteboard/sidebar/ui/ColorPicker.tsx
new file mode 100644
index 000000000..96e7bdaa1
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/ui/ColorPicker.tsx
@@ -0,0 +1,31 @@
+'use client';
+
+import PaletteGrid from '@/components/whiteboard/sidebar/ui/color-picker/PaletteGrid';
+import CustomColorArea from '@/components/whiteboard/sidebar/ui/color-picker/CustomColorArea';
+
+// ColorPicker 컴포넌트의 Props 타입 정의
+interface ColorPickerProps {
+  color: string;
+  onChange: (color: string) => void;
+  allowTransparent?: boolean;
+}
+
+export default function ColorPicker({
+  color,
+  onChange,
+  allowTransparent = false,
+}: ColorPickerProps) {
+  return (
+    <div className="flex flex-col">
+      {/* 기본 색상 팔레트 */}
+      <PaletteGrid
+        currentColor={color}
+        onChange={onChange}
+        allowTransparent={allowTransparent}
+      />
+
+      {/* 사용자 지정 및 최근 색상 */}
+      <CustomColorArea currentColor={color} onChange={onChange} />
+    </div>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/ui/Section.tsx b/frontend/src/components/whiteboard/sidebar/ui/Section.tsx
new file mode 100644
index 000000000..92ebb0050
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/ui/Section.tsx
@@ -0,0 +1,22 @@
+'use client';
+
+// 섹션 컴포넌트
+// title : 섹션 제목
+// children : 섹션 내용
+interface SectionProps {
+  title?: string;
+  children: React.ReactNode;
+}
+
+export default function Section({ title, children }: SectionProps) {
+  return (
+    <div className="flex flex-col gap-2 py-2">
+      {title && (
+        <h3 className="text-xs font-bold tracking-wide text-black uppercase select-none">
+          {title}
+        </h3>
+      )}
+      {children}
+    </div>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/ui/color-picker/ColorButton.tsx b/frontend/src/components/whiteboard/sidebar/ui/color-picker/ColorButton.tsx
new file mode 100644
index 000000000..a5f1252f0
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/ui/color-picker/ColorButton.tsx
@@ -0,0 +1,38 @@
+'use client';
+
+// 색상 버튼 컴포넌트(색상 하나만 담당)
+// 클릭 시 해당 색상으로 변경
+// color : 색상
+// label : 색상 이름
+// isSelected : 현재 선택된 색상 여부
+// onClick : 클릭 시 동작 함수
+interface ColorButtonProps {
+  color: string;
+  label?: string;
+  isSelected: boolean;
+  onClick: () => void;
+}
+
+export default function ColorButton({
+  color,
+  label,
+  isSelected,
+  onClick,
+}: ColorButtonProps) {
+  return (
+    <button
+      onClick={onClick}
+      className={`relative h-6 w-6 rounded-md border border-neutral-200 transition-all focus:outline-none ${
+        isSelected ? 'z-1 scale-120 ring-2 ring-sky-300' : 'hover:scale-110'
+      }`}
+      style={{ backgroundColor: color === 'transparent' ? 'white' : color }}
+      title={label || color}
+    >
+      {color === 'transparent' && (
+        <div className="pointer-events-none absolute inset-0 flex items-center justify-center">
+          <div className="h-full w-0.5 rotate-45 bg-red-400 opacity-50" />
+        </div>
+      )}
+    </button>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/ui/color-picker/CustomColorArea.tsx b/frontend/src/components/whiteboard/sidebar/ui/color-picker/CustomColorArea.tsx
new file mode 100644
index 000000000..abcb1ca67
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/ui/color-picker/CustomColorArea.tsx
@@ -0,0 +1,66 @@
+'use client';
+
+import { useState } from 'react';
+
+import { getColorName } from '@/utils/color';
+
+import ColorButton from '@/components/whiteboard/sidebar/ui/color-picker/ColorButton';
+import CustomColorInput from '@/components/whiteboard/sidebar/ui/color-picker/CustomColorInput';
+
+// CustomColorArea: 사용자 지정 색상 선택 및 최근 사용 색상 관리 컴포넌트
+// currentColor: 현재 선택된 색상
+// onChange: 색상 변경 시 호출되는 콜백 함수
+interface CustomColorAreaProps {
+  currentColor: string;
+  onChange: (color: string) => void;
+}
+
+export default function CustomColorArea({
+  currentColor,
+  onChange,
+}: CustomColorAreaProps) {
+  // 최근 사용된 색상이 저장된 배열
+  const [recentColors, setRecentColors] = useState<string[]>([]);
+
+  // 색상 변경 처리 함수
+  const handleCustomColorChange = (newColor: string) => {
+    onChange(newColor);
+
+    // 최근 색상 목록 변경 로직
+    // - 투명 저장 제외
+    // - 중복 저장 방지
+    if (newColor !== 'transparent' && !recentColors.includes(newColor)) {
+      setRecentColors((prev) => {
+        return [newColor, ...prev].slice(0, 5);
+      });
+    }
+  };
+
+  return (
+    <div className="mt-2 flex items-center gap-1 border-t border-neutral-300 pt-2">
+      {/* 사용자 지정 색상 선택기 */}
+      <CustomColorInput
+        color={currentColor}
+        onChange={(e) => handleCustomColorChange(e.target.value)}
+      />
+
+      {/* 구분선 (최근 색상 있는 경우만 표시) */}
+      {recentColors.length > 0 && (
+        <div className="mx-1 h-4 w-px bg-neutral-300" />
+      )}
+
+      {/* 최근 사용 색상 리스트 */}
+      <div className="flex gap-1.5">
+        {recentColors.map((color) => (
+          <ColorButton
+            key={color}
+            color={color}
+            label={getColorName(color)}
+            isSelected={currentColor === color}
+            onClick={() => handleCustomColorChange(color)}
+          />
+        ))}
+      </div>
+    </div>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/ui/color-picker/CustomColorInput.tsx b/frontend/src/components/whiteboard/sidebar/ui/color-picker/CustomColorInput.tsx
new file mode 100644
index 000000000..1bbefe6bc
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/ui/color-picker/CustomColorInput.tsx
@@ -0,0 +1,29 @@
+'use client';
+
+// 사용자 색상 선택기
+// color : 현재 선택된 색상
+// onChange : 색상 변경 시 호출 함수
+interface CustomColorInputProps {
+  color: string;
+  onChange: (e: React.ChangeEvent<HTMLInputElement>) => void;
+}
+
+export default function CustomColorInput({
+  color,
+  onChange,
+}: CustomColorInputProps) {
+  return (
+    <div className="relative h-7 w-7 cursor-pointer overflow-hidden rounded-md border border-neutral-200 shadow-sm transition-opacity hover:opacity-80">
+      <input
+        type="color"
+        // 투명 색상 선택 시 흰색으로 표시(오류 방지)
+        value={color === 'transparent' ? '#ffffff' : color}
+        onChange={onChange}
+        className="absolute top-1/2 left-1/2 h-[200%] w-[200%] -translate-x-1/2 -translate-y-1/2 cursor-pointer opacity-0"
+      />
+
+      {/* 색상 선택기 버튼 그라데이션 */}
+      <div className="h-full w-full bg-[linear-gradient(to_bottom_right,#fca5a5,#fdba74,#fde047,#86efac,#93c5fd,#a5b4fc,#d8b4fe)]" />
+    </div>
+  );
+}
diff --git a/frontend/src/components/whiteboard/sidebar/ui/color-picker/PaletteGrid.tsx b/frontend/src/components/whiteboard/sidebar/ui/color-picker/PaletteGrid.tsx
new file mode 100644
index 000000000..a31682835
--- /dev/null
+++ b/frontend/src/components/whiteboard/sidebar/ui/color-picker/PaletteGrid.tsx
@@ -0,0 +1,37 @@
+'use client';
+
+import { FULL_PALETTE, NO_TRANSPARENT_PALETTE } from '@/constants/colors';
+
+import { getColorName } from '@/utils/color';
+
+import ColorButton from '@/components/whiteboard/sidebar/ui/color-picker/ColorButton';
+
+// 색상 버튼 모음 컴포넌트(팔레트)
+interface PaletteGridProps {
+  currentColor: string;
+  onChange: (color: string) => void;
+  allowTransparent: boolean;
+}
+
+export default function PaletteGrid({
+  currentColor,
+  onChange,
+  allowTransparent,
+}: PaletteGridProps) {
+  // palette : 투명 허용 여부에 따른 데이터 배열 선택
+  const palette = allowTransparent ? FULL_PALETTE : NO_TRANSPARENT_PALETTE;
+
+  return (
+    <div className="grid grid-cols-5 gap-2">
+      {palette.map((color) => (
+        <ColorButton
+          key={color}
+          color={color}
+          label={getColorName(color)}
+          isSelected={currentColor === color}
+          onClick={() => onChange(color)}
+        />
+      ))}
+    </div>
+  );
+}
diff --git a/frontend/src/constants/colors.ts b/frontend/src/constants/colors.ts
new file mode 100644
index 000000000..c088c7241
--- /dev/null
+++ b/frontend/src/constants/colors.ts
@@ -0,0 +1,64 @@
+// whiteboard 에서 사용되는 색상 상수들
+
+// 기본 색상
+export const COLORS = {
+  transparent: 'transparent',
+  white: '#ffffff',
+  black: '#343a40',
+  gray: '#adb5bd',
+  red: '#ff8787',
+  orange: '#ffc078',
+  yellow: '#ffe066',
+  green: '#69db7c',
+  blue: '#74c0fc',
+  indigo: '#91a7ff',
+  purple: '#b197fc',
+} as const;
+
+// 전체 팔레트 순서 (10개)
+// 투명이 있는 경우
+// 1열: 투명, 흰색, 검정, 빨강, 주황
+// 2열: 노랑, 초록, 파랑, 남색, 보라
+export const FULL_PALETTE = [
+  COLORS.transparent,
+  COLORS.white,
+  COLORS.black,
+  COLORS.red,
+  COLORS.orange,
+  COLORS.yellow,
+  COLORS.green,
+  COLORS.blue,
+  COLORS.indigo,
+  COLORS.purple,
+];
+
+// 투명이 없는 경우
+// 1열 : 흰색, 검정, 회색, 빨강, 주황
+// 2열 : 노랑, 초록, 파랑, 남색, 보라
+// (투명 대신 회색이 들어감)
+export const NO_TRANSPARENT_PALETTE = [
+  COLORS.white,
+  COLORS.black,
+  COLORS.gray,
+  COLORS.red,
+  COLORS.orange,
+  COLORS.yellow,
+  COLORS.green,
+  COLORS.blue,
+  COLORS.indigo,
+  COLORS.purple,
+];
+
+export const COLOR_NAMES: Record<string, string> = {
+  [COLORS.transparent]: '투명',
+  [COLORS.white]: '흰색',
+  [COLORS.black]: '검은색',
+  [COLORS.gray]: '회색',
+  [COLORS.red]: '빨강색',
+  [COLORS.orange]: '주황색',
+  [COLORS.yellow]: '노랑색',
+  [COLORS.green]: '초록색',
+  [COLORS.blue]: '파랑색',
+  [COLORS.indigo]: '남색',
+  [COLORS.purple]: '보라색',
+};
diff --git a/frontend/src/utils/color.ts b/frontend/src/utils/color.ts
new file mode 100644
index 000000000..245ae3d0c
--- /dev/null
+++ b/frontend/src/utils/color.ts
@@ -0,0 +1,9 @@
+import { COLOR_NAMES } from '@/constants/colors';
+
+// 색상 이름 반환 유틸 함수
+// color 값이 COLOR_NAMES(constants/colors)에 존재하면 해당 이름을 반환
+// color 값이 COLOR_NAMES(constants/colors)에 존재하지 않으면 color값(HEX 코드)을 반환
+export const getColorName = (color: string): string => {
+  if (COLOR_NAMES[color]) return COLOR_NAMES[color];
+  return color;
+};