A vehicle parking lock device having a parking rod; a tapered parking cam disposed at a leading end portion of the parking rod; and a cam guiding device that guides the parking cam moved together with the parking rod in association with a projection of the parking rod toward the leading end portion to move a parking lock pole with the parking cam to a position of engagement with a parking lock gear rotated together with a transmission output member, the cam guiding device including a first guiding member in a cylindrical shape and a second guiding member in a half cylindrical shape that is disposed subsequently to the first guiding member, the second guiding member having a tapered guiding concave surface that guides the parking cam toward the parking lock pole in association with the projection of the parking rod toward the leading end portion.