There is provided a control device for controlling a vehicle lamp provided in a vehicle. The device includes: a receiver configured to receive an inclination angle of the vehicle with respect to a horizontal plane from an inclination detector; a controller configured to: i) generate a first control signal instructing the vehicle lamp to adjust an optical axis of the vehicle lamp in response to a change of the inclination angle, when the vehicle has already stopped; and ii) generate a second control signal instructing the vehicle lamp to maintain the optical axis of the vehicle lamp, when the vehicle is traveling on a road surface; and a transmitter configured to transmit the first control signal or the second control signal to an optical axis adjuster provided in the vehicle lamp.