To provide an optical axis offset detecting device of an on-board camera and an optical axis offset detecting method of the on-board camera, wherein a change of an attached state of the on-board camera is detected without being restrained by a photographic range.

The optical axis offset detecting device 1 of the on-board camera has a positional information storing means 12 storing positional information of natural features 21 to 24 of the landscape, a natural feature detecting means 101 for detecting the first natural features 23, 24 by a camera 11, a first range finding means 102 for detecting a first distance between the first natural features 23, 24 detected by the natural feature detecting means 101 and its own vehicle, a second range finding means 9 for detecting a second distance between the second natural features 21, 22 and its own vehicle, and an optical axis offset determining means 130 for comparing a true distance between the first and second natural features extracted from the positional information of the natural features 21 to 24 stored in the positional information storing means 12, and an actually found value between the first and second natural features obtained based on the first and second distances to determine an optical axis offset of the camera.

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