The present invention provides a driving assistance device that assists driving of a vehicle, the driving assistance device including a notification unit configured to perform notification for recognition of a risk associated with traveling of the vehicle present in a surrounding situation to a driver of the vehicle, a determination unit configured to determine a degree of recognition of the risk by the driver based on a period of time from when a first detector no longer detects an accelerator operation to when a second detector detects the brake operation in response to the risk present in the surrounding situation, and a control unit configured to control the notification unit so that the notification according to the degree of recognition determined by the determination unit is performed.