A wireless charging device for a vehicle includes an external cover rotatably coupled to an interior member of the vehicle and including a wireless charging circuit formed therein, an internal cover coupled to a surface of the external cover and including an accommodation space configured to position a power receiving device with respect to the wireless charging circuit to receive power transmitted by the wireless charging circuit, and at least one auxiliary cover inserted into the accommodation space and configured to reduce the size of the accommodation space to inhibit movement of the power receiving device.