A gearbox of a twin clutch includes dog portions of a movable gear and a fixed gear which may be disengaged and re-engaged with each other. A control device for a vehicle including the twin clutch includes a shift actuator control unit that, when shifting a gear to another speed, outputs a target position signal so as to shift a rotation position of a shift actuator to a gear shift position at which a gear shift operation is performed by a transmission, and a clutch control unit that outputs torque signals so as to connect a clutch that transmits power to, among movable gears and fixed gears, a movable gear or a fixed gear including a dog portion to be disengaged. The shift actuator control unit outputs the target position signal so as to return the rotation position of the shift actuator to a neutral position.