The invention provides a technique capable of executing the vehicle travel control so as to avoid the restricted lane section in which traveling is prohibited. A vehicle travel control system determines a travel lane based on driving environment information and controls the vehicle to travel in the travel lane. A restricted lane section is a section of lane in which a specific type of vehicle is prohibited from traveling. The driving environment information includes: lane configuration information; position information indicating a position of the vehicle with an accuracy with which the travellane is identifiable; vehicle type information indicating a type of the vehicle; and restricted lane section information indicating a position of the restricted lane section. The vehicle travel control system is further configured to recognize, based on the vehicle type information and the restricted lane section information, an avoidance target lane section in which the vehicle is prohibited from traveling; and execute the vehicle travel control so as to avoid the avoidance target lane section based on the lane configuration information and the position information.