An electrostatic steering wheel hold detection device includes: a first heater element located in a steering wheel, and has one end electrically connected to a power source; an inductor—that is electrically connected to an other end of the first heater element; a second heater element that is included in the steering wheel, and has one end electrically connected to the other end of the first heater element via the inductor; and a sensor circuit that is electrically connected to a connection point between the first heater element and the inductor, and detects, from a change in capacitance at the connection point, whether or not the steering wheel is held. An other end of the second heater element is electrically connected to a ground. The second heater element is located lower than the first heater element in the steering wheel when the steering wheel is in a neutral position.