To improve a straight moving property by a vehicle control device upon braking of a vehicle.

A vehicle control device includes an EPS actuator 21 which applies an assisting force for supporting a steering operation, a torque sensor 31 which detects a steering force generated by the steering operation, and an ECU 22 which controls the assisting force based on the steering force and, when a straight-movement braking state of the vehicle is detected, increases the assisting force if a lateral acceleration of the vehicle is smaller than a predetermined value or reduces the assisting force if the lateral acceleration is equal to or higher than the predetermined value.