The purpose of this study is to identify the color recognition characteristics of the safety sign of the underground parking lot of the brand apartment in terms of color universal design, focusing on readability, visibility, harmony. The survey was conducted from November 2, 2021 to January 4, 2022 for 202 users of underground parking lots of brand apartments in Seoul. The collected data were analyzed by frequency analysis and descriptive statistics using SPSS 23.0. The results of this study are as follows: First, among the representative color scheme types of parking lot safety signs, the average of readability, visibility, harmony of Y-6 was the highest. Second, the types with high readability by the detailed color scheme type of safety sign were R-1, Y-3, G-1, B-1, visibility was R-1, Y-3, G-1, B-1, harmony was R-1, Y-2, G-1, B-2. Third, the average of readability, visibility, harmony of Y-6 representative types were the highest in the general color, color, elderly groups. Fourth, among the detailed color scheme types of safety signs, the highly readable types recognized by the general color scheme group were R-1, Y-3, G-1, B-1, visibility R-1, Y-3, G-1, B-1, harmony R-1, Y-2, G-1, B-2. The highly readable types recognized by the colored acronym D group were R-3, Y-3, G-1, B-2, visibility R-2, Y-2, G-1, B-2, harmony R-3, Y-3, G-1, B-2&3. The highly readable types of F-type group recognized by the colored acronym group were R-2, Y-3, G-1, B-1&2, visibility R-2, Y-3, G-1, B-1&2, harmony R-2, Y-3, G-1, B3. The high readability types recognized by the elderly group were R-1, Y-3, G-1, B-2, Positive R-1, Y-3, G-1, B-2, Harmony R-1, Y-3, G-2, and B-3. In conclusion, this study provides implications for establishing color guidelines for all users to optimize the color of the safety sign of the underground parking lot of the apartment.