An inverted pendulum type vehicle includes a travelling motion unit capable of moving on a floor surface, an actuator for driving the travelling motion unit, a base body mounted with the travelling motion unit and the actuator, a tilt detector configured to detect a tilt of the base body, and a controller configured to control the actuator. The controller controls an operation of an actuator so as to restrict a representative point velocity which is a travelling velocity of a predefined representative point located above a ground contact point of the vehicle and is determined according to a travelling velocity of the travelling motion unit and a tilt of the base body.