Provided is a control device of an inverted pendulum type vehicle capable of adjusting a deviation of a tilt angle of a base body from a desired tilt angle so as to maintain the vehicle in a normal state where the tilt angle matches the desired tilt angle and the vehicle is in halt. When an update condition for updating a tilt offset adjusting variable θb_xy_offset is satisfied (STEP 21), a posture control calculator 80 performs a first mode arithmetic process (STEP 22) to update the tilt offset adjusting variable θb_xy_offset, and meanwhile determines imaginary wheel rotational angular acceleration commands ωwdot_x_cmd and ωwdot_y_cmd via a second mode arithmetic process (STEP 23) by using the tilt offset adjusting variable θb_xy_offset updated in the first mode arithmetic process.