To provide a torque estimation device for highly precisely estimating an input torque and/or an output torque in a continuously variable transmission in which a property of a speed changing ratio to an excentric quantity is geometrically nonlinear.

The torque estimation device for estimating the torque in the continuously variable transmission of a four node link mechanism estimates the input torque being the torque input to the continuously variable transmission and/or the output torque being the torque output by the continuously variable transmission from the relation of the torque and the eccentric quantity different in each speed changing ratio of the continuously variable transmission, based on the input rotational frequency being the rotational frequency of the input side of the continuously variable transmission by the rotational power from the power source, the output rotational frequency being the rotational frequency of the output side of the continuously variable transmission, and the eccentric quantity set in the continuously variable transmission.