A vehicle control device comprising: a balance gradient calculation unit configured to calculate a balance gradient that is a gradient at which a propulsive force of the vehicle and a resistance force applied to the vehicle are balanced when the vehicle travels in a gear-in coasting state in which an engine is connected to a gear and the vehicle travels without supplying fuel to the engine, in a case where a traveling state of the vehicle is a neutral coasting state; and a traveling control unit configured to: switch, based on the calculated balance gradient and a specified road gradient, the traveling state of the vehicle from the neutral coasting state to the gear-in coasting state in a case where the traveling state of the vehicle is the neutral coasting state; and end, the gear-in coasting state when determining that an end condition is satisfied.