A touch sensing method which determines whether or not a touch is generated based on a driving frequency amplitude of a driving signal and a sensing frequency amplitude corresponding to a sensing signal, a touch sensing controller and a touch sensing device having the touch sensing controller are disclosed. A touch sensing controller includes a driving unit, a sensing unit, a control unit and a noise sensing unit. The driving unit provides a plurality of driving electrodes with a plurality of driving signals having different frequencies to each other, respectively. The sensing unit performs a Fast Fourier transform (FFT) processing the sensing signals sensed at the sensing electrodes to determine whether or not a touch is generated based on a variation amount between frequency magnitude of the sensing signal and frequency magnitude of the driving signal. The control unit controls an operation of the driving unit and an operation of the sensing unit. The noise sensing unit senses a surrounding noise component and providing the control unit with a frequency characteristic of the sensed noise component.