Provided are a novel exhaust pipe temperature estimation device and a sensor heater control apparatus for an exhaust gas sensor using the same that accurately estimates an estimation exhaust pipe temperature when an internal combustion engine is stopped and restarted in response to a change of an environmental condition of the internal combustion engine and controls an operation of a sensor heater based on the estimated estimation exhaust pipe temperature. Thus, at least first correction information Tz based on a change of an exhaust pipe temperature and an elapsed time at stop, second correction information Ty based on a change of an internal combustion engine temperature at the stop of the internal combustion engine, and third correction information Tz based on a change of a cooling degree due to outdoor air during stop from the stop to restart are obtained, an estimation exhaust pipe temperature at the stop is corrected using at least one or more pieces of the correction information at restart of the internal combustion engine to estimate an estimation exhaust pipe temperature at the restart, and an estimation exhaust pipe temperature during an operation of the internal combustion engine thereafter is obtained using the estimation exhaust pipe temperature as an initial value, and further, a heating operation of a sensor heater is started when the estimation exhaust pipe temperature becomes equal to or higher than a predetermined value.