In order to highly accurately estimate a temperature of a permanent magnet to be used for a rotor of a motor, provided is a motor control device for a vehicle including a motor as a drive power source, in which an estimation mode setting section sets, when a predetermined condition for estimating the temperature of the permanent magnet to be used for the rotor of the motor is established under a state in which the motor generates drive power to run the vehicle, a current flowing through the motor to 0, and a permanent magnet temperature estimation section estimates the temperature of the permanent magnet based on an induced voltage of the motor in a period during which the current flowing through the motor is 0.