A vehicle height adjustment device includes: vehicle height adjustment actuators provided to at least a pair of front wheels or a pair of rear wheels of a vehicle, and configured to adjust a vehicle height defined by a distance between the wheels and a vehicle body; an actuator control device configured to control the vehicle height adjustment actuators such that the vehicle height approximates to a target vehicle height; and a detection device configured to detect a physical quantity which varies as upward or downward movement of the vehicle body is restricted due to contact with an external contacted object. The actuator control device stops upward or downward movement of the vehicle body, and switches to movement in an opposite direction based on a detected value of the detection device, when the determination that the movement of the vehicle body is restricted is made by the detection device.