A Cayley graph of a group $H$ is a finite simple graph $Γ$ such that its automorphism group ${\rm Aut}(Γ)$ contains a subgroup isomorphic to $H$ acting regularly on $V(Γ)$, while a Haar graph of $H$ is a finite simple bipartite graph $Σ$ such that ${\rm Aut}(Σ)$ contains a subgroup isomorphic to $H$ acting semiregularly on $V(Σ)$ and the $H$-orbits are equal to the partite sets of $Σ$. It is well-known that every Haar graph of finite abelian groups is a Cayley graph. In this paper, we prove that every finite non-abelian group admits a non-Cayley Haar graph except the dihedral groups $D_6$, $D_8$, $D_{10}$, the quaternion group $Q_8$ and the group $Q_8\times\mathbb{Z}_2$. This answers an open problem proposed by Estélyi and Pisanski in 2016.