A control system of an exhaust sensor controlling an exhaust sensor comprises a heater control part controlling a heater and a temperature estimating part estimating a temperature of an exhaust pipe around the exhaust sensor. The heater control part sets the target temperature to a first target temperature after startup of the internal combustion engine and until the estimated temperature of the exhaust pipe reaches a first exhaust pipe temperature, sets the target temperature to a second target temperature from when the estimated temperature of the exhaust pipe reaches the first exhaust pipe temperature to when it reaches a second exhaust pipe temperature, and sets the target temperature to an operating temperature of the electrochemical cell when the estimated temperature of the exhaust pipe reaches the second exhaust pipe temperature.