A warning device for a vehicle includes a warning vibration wave generator and a vibration applying device. For each of a plurality of vehicle conditions, the warning vibration wave generator generates a warning vibration wave having a frequency that varies with the vehicle speed detected by a vehicle speed sensor, and that differs for each vehicle condition at the same vehicle speed. Based on the warning vibration wave generated by the warning vibration wave generator, the vibration applying device applies a warning vibration corresponding to the warning vibration wave to a steering member.