In a voice packet communication system, a voice packet loss concealment device compensates for the deterioration of voice quality due to voice packet loss. In the device, a detecting section detects a loss of a voice packet and outputting information; an estimating section estimates the voice characteristics of the lost segment using a pre-loss voice packet received before the lost segment or a post-loss voice packet received after the lost segment; a pitch signal generating section generates a pitch signal having the voice characteristics; and a lost packet generating section outputs the pitch signal generated by the pitch signal generating section, with the voice characteristics estimated by the estimating section, which allows abnormal noise and feeling of mute, subjective deterioration of naturalness and continuity to be improved, and the voice packet loss concealment to be further improved.