A gripping state detection device includes a steering state determination ECU that determines the gripping state of a driver with respect to the steering wheel of a vehicle. The steering state determination ECU determines which of a first steering state, a second steering state, and a hands-off state has occurred based on the electrostatic capacitance. The steering state determination ECU outputs a first determination result indicating that the steering wheel is gripped by the driver in a case where the determined state is the first steering state or the second steering state, and outputs a second determination result indicating that the steering wheel is not gripped by the driver in a case where the determined state is the hands-off state.