An estimation device includes a recognition unit configured to recognize a surrounding environment of a moving object in recognition regions, and an estimation unit configured to estimate a risk for the moving object on the basis of a recognition result from the recognition unit, in which the recognition unit sets a priority region on which a recognition process is preferentially performed among the recognition regions, according to a state of the surrounding environment of the moving object, and sets, as the priority region, a region overlapping a region including at least a part of at least one crosswalk that is present in a vicinity of an intersection region in which a first road on which the moving object is located intersects a second road present in an advancing direction of the moving object.