A vehicle control device detects an object existing in front in a traveling direction of a host vehicle by an object detection sensor, and performs collision avoidance control with respect to the object based on a detection result and includes: a determining unit that, in a case where there is an object moving toward the front of the host vehicle in a direction intersecting the traveling direction of the host vehicle, determines that a portion other than a front end portion of the object is acquired by the object detection sensor as a detection position of the object and a control unit that, in a case where it is determined that a portion other than the front end portion of the object has been acquired, permits collision avoidance control to be performed even when a lateral position of the acquired portion is not in a collision prediction area.