In an exhaust gas sensor control system and control method, the exhaust pipe wall temperature is estimated based on the measured exhaust gas temperature measured, the exhaust gas flow rate, and the measured outside air temperature, with reference to a supplied heat quantity calculation map, wall temperature added value map, and a wall temperature subtracted value map. Then the dew-point of the exhaust pipe is calculated based on the air-fuel ratio of the air flow amount to the weight of fuel, and a condensed water added amount is calculated based on the relative wall temperature and the exhaust gas flow amount. The amount of condensed water is then estimated by summing the calculated condensed water added amounts.