A parking brake control device performs a releasing control with good precision by more precisely maintaining clearance between a friction-applying member and a friction-applied member. During a releasing control, a timing at which a braking force generated by an electric parking brake 2 drops to zero is detected based on a change in a motor current, and a second releasing operation time is set according to the magnitude of the motor current at the time the braking force drops to zero. This makes it possible for the second releasing operation time to be set in accordance with fluctuations in a motor load due to temperature changes or the like. Therefore, a clearance between a brake pad and a brake disc can be kept constant according to the motor load.