A thermal head control device includes: a printing rate calculation range determination unit configured to determine, as a printing rate calculation range, a range from a left-end energization dot to a right-end energization dot among energization dots present in printing data corresponding to heating elements to be controlled among a plurality of heating elements included in a thermal head; a printing rate calculation unit configured to calculate a printing rate of the printing rate calculation range determined by the printing rate calculation range determination unit; an energizing time calculation unit configured to calculate an energizing time for which a current is caused to flow through the heating elements based on the printing rate calculated by the printing rate calculation unit; and an output unit configured to output a control signal for driving the heating elements to be controlled of the thermal head, based on the calculated energizing time.