A vehicle controller controls a vehicle including an engine and an automatic transmission. The vehicle controller includes an electronic control unit. The electronic control unit estimates power generable by the engine based on a condition of the engine and a condition of the automatic transmission in a non-driving range, calculates a load on the automatic transmission in a driving range based on a condition of the automatic transmission in the driving range, determines whether a difference between the power and the load is equal to or smaller than a predetermined threshold by which an engine stall is identifiable, and limits a gear shift request from the non-driving range to the driving range when the difference is equal to or smaller than the predetermined threshold.