A road surface submergence estimation device including a motion sensor that acquires an actual acceleration of a vehicle; a torque acquisition sensor that acquires an actual torque transmitted from a driving source to wheels of the vehicle, the driving source being mounted in the vehicle; and an estimation processor that estimates that a road surface on which the vehicle is traveling is submerged when it is determined that a submergence determination condition is satisfied. The road surface submergence estimation device may also include a wireless communication device configured to either send submergence information to a central server, or receive additional submergence information from a central server.