A moving body control device includes an attitude angle detection section configured to detect ah attitude angle of an inverted moving body, a command value generation section configured to generate an attitude angular speed command value of the inverted moving body according to the attitude angle detected by the attitude angle detection section, a control section configured to control drive of the inverted moving body according to the attitude angular speed command value generated by the command value generation section, a determination section configured to make a determination whether or not the inverted moving body travels in a constant direction for a prescribed time or longer, and an acceleration-deceleration command section configured to increase or decrease the attitude angular speed command value generated by the command value generation section when the determination section makes a determination that travel is performed in the constant direction for the prescribed time or longer.