An impulse radio communication device includes a short pulse generator configured to change a shape of an impulse to be output; a bandpass filter configured to receive the impulse and output the impulse as a wave packet; an amplifier configured to amplify an output from the bandpass filter; and an antenna configured to output the wave packet, output from the amplifier, as a wireless signal, the short pulse generator includes a control section configured to change the shape of the impulse to be output, in response to an environmental condition of a transmission path for wireless communication.