A road shape estimation apparatus, mounted to a vehicle, for estimating a shape of a road on which the vehicle runs, includes: an object detection section for detecting, as a plurality of detected points, a position of a stationary object which is around the vehicle; a starting point determination section for determining a starting point by selecting from among the plurality of detected points, based on a positional relationship between the vehicle and each of the plurality of detected points; a detected point connection section for sequentially connecting between the starting point and one of the detected points that is a point to be connected, so as to start from the starting point, and for thus grouping detected points; and a road shape estimation section for estimating, as a shape of the road, a shape of a connection line obtained by grouping the detected points.