The study adopted extended Kalman filter technique in an effort to predict Z-R relationship parameter as a stable value in real-time. Toward this end, a parameter estimation model was established based on extended Kalman filter in consideration of non-linearity of Z-R relationship. A state-space model was established based on a study that was conducted by Adamowski and Muir (1989). Two parameters of Z-R relationship were set as state variables of the state-space model. As a result, a stable model where a divergence of Kalman gain and state variables are not generated was established. It is noteworthy that overestimated or underestimated parameters based on a conventional method were filtered and removed. As application of inappropriate parameters might cause physically unrealistic rain rate estimation, it can be more effective in terms of quantitative precipitation estimation. As a result of estimation on radar rainfall based on parameters predicted with the extended Kalman filter, the mean field bias correction factor turned out to be around 1.0 indicating that there was a minor difference from the gauge rain rate without the mean field bias correction. In addition, it turned out that it was possible to conduct more accurate estimation on radar rainfall compared to the conventional method.