A vibration damping device including a supporting member rotating with a rotation element around a rotation center of the rotation element; a restoring force generation member coupled to the supporting member to transfer torque to and from the supporting member and configured to swing with rotation of the supporting member; and an inertia mass body coupled to the supporting member via the restoring force generation member and swinging around the rotation center with the restoring force generation member with rotation of the supporting member, in which the restoring force generation member swings around a swing center so that a relative position with respect to the inertia mass body does not change, and a distance between a center of gravity of the restoring force generation member and the swing center changes with a change in a swing angle of the restoring force generation member with respect to the inertia mass body.