A vehicle control device includes: a lane departure prevention unit configured to control an execution of a traveling control of preventing a vehicle from departing from a lane; a gripping detection unit configured to detect a state where a steering wheel is gripped; and a collision detection unit configured to detect a state where the vehicle collides an object. In a case where the collision detection unit does not detect a collision during the traveling control, the lane departure prevention unit does not interrupt the traveling control at a time the steering wheel is gripped, and interrupts the traveling control at a time the steering wheel is not gripped. In a case where the collision detection unit detects the collision, the lane departure prevention unit does not interrupt the traveling control at the time the steering wheel is gripped or at the time the steering wheel is not gripped.