The on-board sensor cleaning apparatus is applied to a vehicle having a front camera, a rear camera, a center display, and an electronic inner mirror. A surrounding image obtained through the front camera and the rear camera is displayed on the center display and the electronic inner mirror. The on-board sensor cleaning apparatus includes an ECU, a position information obtaining device, and a cleaning unit. The ECU obtains a visual check probability for an area which includes a position of the vehicle indicated by vehicle position information, from a database. The ECU sets an automatic cleaning start condition based on the obtained visual check probability.