Provided is a vehicle state estimation device (10) having a calculation unit (28) that calculates state quantities of at least a sprung of a vehicle based on wheel speeds of front left and right wheels and rear left and right wheels detected by detection devices. The calculation unit (28) calculates in-phase and reverse phase components of wheel speeds of left and right wheels for the front and rear wheels and calculates a pitch angular speed and a yaw angular speed of the sprung based on the in-phase and reverse phase components of the wheel speeds, respectively. The calculation unit (28) calculates in-phase and reverse phase components of vertical strokes of left and right suspensions for the front and rear wheels and calculates a vertical speed and a roll angular speed of the sprung based on the in-phase and reverse phase components of vertical strokes of the suspensions, respectively.