The traffic signal recognition device includes a traffic signal recognition unit configured to perform processing for recognizing the traffic signal based on the result of imaging performed by a camera, an external situation recognition unit configured to recognize a size and position of a surrounding vehicle, and a occluded situation determination unit configured to determine whether or not the area in front of a host vehicle is in the traffic signal occluded situation, in which the line of sight from the camera to the traffic signal is blocked by the surrounding vehicle. The traffic signal recognition unit is configured not to perform the processing for recognizing the traffic signal within a difficulty zone and not to perform the processing for recognizing the traffic signal if it is determined that the area in front of the host vehicle is in the traffic signal occluded situation.