A vehicle theft prevention device includes: a device control unit that starts, when performing exit processing for causing a vehicle to move from a parking position to a user position by an autonomous driving control of the vehicle in response to an exit instruction to the vehicle from a terminal of the user outside the vehicle, performing first change processing for changing a state of facilities in a vehicle cabin of the vehicle from a theft prevention state in which theft of the vehicle and articles in the vehicle cabin is prevented to a normal state in which the vehicle is able to be driven by the user such that the first change processing ends when the vehicle arrives at the user position.