A vehicle floor structure including: a floor tunnel frame arranged along a center in a vehicle width direction and extending in a vehicle length direction; side sills arranged on the right and left sides of a vehicle body and extending in the length direction; lateral frame members connecting the tunnel frame with the side sills; floor panels bridged between the tunnel frame and the side sills; obliquely extending portions provided on at least one of the lateral frame members and extending so as to be inclined to the length direction in a planar view, connecting respectively with the side sills; and concentric arc-shaped beads provided in the respective panels, with centers respectively at intersections of the side sills and the obliquely extending portions, wherein at least one of the beads has one end extending orthogonal to the side sill and the other end extending orthogonal to the width direction.