The present disclosure discloses a method and device for detecting a state of holding a steering wheel, wherein the method includes: a detection result is obtained by detecting a video stream collected from a target vehicle; an associated state of the first ROI information and the second ROI information in the two-dimensional plane carried in the detection result is obtained, wherein the first ROI information is ROI information about the steering wheel of the target vehicle, and the second ROI information is ROI information about the driver's hand of the target vehicle; a current state between the hand of the driver and the steering wheel of the target vehicle is determined according to the associated state. Then, the disclosure solves the technical problem in the related art that it is impossible to detect the grasping state of the steering wheel by the driver while driving.