A vehicle door opening and closing device includes: a detection unit having three or more detection sections configured to detect an object, wherein each of the detection sections has a detection range for the object, and two or more operation zones are defined by partial overlapping of the detection ranges of the detection sections which are adjacent to each other; and a control section configured to cause a door driving section to control a door to open and close when a predetermined movement performed by the object is detected in any of the two or more operation zones. The control section is configured to use detection results of two of the detection sections corresponding to the operation zone where the object has first been detected for detection of movement of the object in preference to other detection results.