An ultrasonic sensor includes a signal generation circuit, an amplifier, and a matching circuit as a transmission-side circuit. The signal generation circuit includes a driving signal generation circuit that generates a driving signal for transmitting ultrasonic waves from an ultrasonic transducer for transmission and reception and a reverberation suppression signal generation circuit that generates a reverberation suppression signal for suppressing reverberation occurring at the ultrasonic transducer from which the ultrasonic waves are transmitted. The reverberation suppression signal generation circuit generates the reverberation suppression signal having a frequency of 1/2 times the frequency of the driving signal and applies the reverberation suppression signal to the ultrasonic transducer at a time delayed from the driving signal by a half wavelength. With the above configuration, an ultrasonic sensor driving circuit capable of reducing the duration of the reverberation occurring at the ultrasonic transducer is provided.