A voice communication technique by which superior echo canceling can be realized even in use of non-directional microphones is provided. When voice uttered by a near end speaker is defined as speaker's voice; sound obtained by emitting a received speech signal, which is a voice signal of a far end speaker, by a loudspeaker is defined as reproduction sound; a signal obtained by picking up an acoustic signal, which contains the speaker's voice and the reproduction sound, by a first microphone is defined as a first sound pickup signal; and a signal obtained by picking up an acoustic signal, which contains the speaker's voice and the reproduction sound, by a second microphone is defined as a second sound pickup signal, a voice communication device includes: a first subtraction unit that generates a first-subtracted first sound pickup signal that is a difference between a corrected sound pickup signal and the second sound pickup signal or the first sound pickup signal, the corrected sound pickup signal being obtained by correcting either one of the first sound pickup signal and the second sound pickup signal on the basis of an amplitude difference based on a difference between a distance d1 from the loudspeaker to the first microphone and a distance d2 from the loudspeaker to the second microphone (d2≤d1); and a second subtraction unit that generates a transmitted speech signal, which is to be transmitted to the far end speaker, by subtracting an adaptive-filtered second sound pickup signal, which is obtained by canceling echo, from the first-subtracted first sound pickup signal.