A walking assist device, includes: a first motor; a second motor; a main body case accommodating the first motor and the second motor; a holding portion provided in the main body case and held by a walker; a plurality of driving wheels, each of which is rotatable around a rotating shaft provided on a circumference in common, and a controller that controls the first motor and the second motor according to intention information regarding a movement of the walker. The plurality of rotating shafts are rotatably supported by a hub case, the hub case is supported by the main body case to be rotatable around a center of the plurality of rotating shafts as a pivot, the first motor is connected to the plurality of driving wheels, and the second motor is connected to the hub case and is connected to the main body case.