Featured is a door gripper for a vehicle including a frame, upper clamping units and a lower clamping unit. The lower clamping unit including a rotary pad with a swivel ball in restricted surfaces of a clamper and a locator of a lower clamping unit to deal with an angle difference of restricted cross sections of the door. The lower clamping unit and upper clamping units being configured and arranged so as to be movable in the up-down direction and the width direction along a guide rail of the frame in order to deal with differences in height and width of the restricted cross section.