A heater control device for an exhaust gas sensor disposed in an exhaust gas passage of an internal combustion engine and including a sensor element having a plurality of cells, and a heater heating the sensor element includes: a heater power control unit configured to execute a temp rising control, in which an impedance of one cell to be measured, of the plurality of cells, is detected and a temperature of the sensor element is raised until the impedance of the one cell reaches a target impedance by setting a power control value of the heater as a heating power control value. The heater power control unit continues the temp rising control until an extension period elapses that is needed for the other cell other than the one cell to reach an activation temperature after the impedance of the one cell reaches the target impedance.