A vehicle control device includes a travel control processing unit configured to control traveling of a host vehicle in accordance with an automated driving mode, where a travel control for the vehicle is performed at least partially automatically by way of automated driving, or a manual driving mode, where traveling of the vehicle is performed based on an operating device which is operated by a vehicle occupant, and an operation amount acquisition unit for acquiring an operation amount by which the operating device is operated by the vehicle occupant. On the basis of the operation amount acquired by the operation amount acquisition unit when switching from the manual driving mode to the automated driving mode, the travel control processing unit sets a first O/R threshold value for the operation amount at a time of canceling at least a portion of the automated driving mode.