A vibration damping control device that controls drive output of a vehicle so as to suppress pitch/bounce vibration of the vehicle includes a vibration damping control unit that controls driving torque of the vehicle so as to reduce an amplitude of the pitch/bounce vibration, based on wheel torque applied to wheels of the vehicle and generated at a location where the wheels contact with a road surface, and a compensation component adjusting unit that reduces an amplitude of a compensation component that corrects the wheel torque calculated by the vibration damping control unit so as to suppress the pitch/bounce vibration, as the magnitude of the steering angle velocity of the vehicle increases.