A vehicle control device includes a spring mechanism configured to connect a sprung member and an unsprung member of a vehicle, generate a spring force according to a relative displacement between the sprung member and the unsprung member, and be able to variably control the spring force, and a damping mechanism configured to connect the sprung member and the unsprung member, generate a damping force for damping a relative motion between the sprung member and the unsprung member, and be able to variably control the damping force, wherein the spring mechanism and the damping mechanism are controlled based on a first physical quantity relating to a sprung vibration of the vehicle and a second physical quantity relating to an unsprung vibration of the vehicle.