A door opening and closing device includes: a door opening and closing drive unit capable of opening and closing a door with respect to a vehicle body; detection units configured to detect a detection object; and a control unit configured to perform an opening and closing control of the door based on detection results of the detection units. One operation zone is set by making a portion of a first detection range of the first detection unit and a portion of a second detection range of the second detection unit overlap with each other. The control unit is configured to perform the opening and closing control of the door only when set movement of the detection object is detected within the operation zone, based on at least one of the detection result of the first detection unit and the detection result of the second detection unit.