A host vehicle position estimation device includes: a detected position recognition unit configured to recognize a detected position of a first target object included in a first recognition range and a detected position of a second target object included in a second recognition range; a host vehicle first position estimation unit configured to estimate a host vehicle first position; a host vehicle second position estimation unit configured to estimate a host vehicle second position; and a deviation determination unit configured to determine that there is a deviation between the detected position of the target object and the information on the position of the target object on the map if a distance between the host vehicle first position and the host vehicle second position is equal to or greater than a deviation threshold value.