A magnetic field detection device includes a magnetic field detection element, a modulation coil, and a demodulator. The magnetic field detection element has a sensitivity axis in a first direction. The modulation coil is configured to apply, to the magnetic field detection element, an alternating current magnetic field having a first frequency and a component in a second direction, the second direction being orthogonal to the first direction. The demodulator is configured to demodulate an output signal having the first frequency and outputted from the magnetic field detection element, and detect, on a basis of an amplitude of the output signal, an intensity of a measurement magnetic field to be received by the magnetic field detection element.