To provide a vehicle parking assisting device capable of properly judging whether or not one's own vehicle can be parked in a parking space on the screen of a monitor before starting a parking operation.

This device comprises at least one image pick up means 18 for picking up images around a vehicle 11, display means 16 capable of displaying the peripheral images picked up by the image pick-up means 18, input operation means 20 of a starting position, control means 17 capable of overlaying indicia M to be a mark on the peripheral images, movement distance detection means 23 of the vehicle 11, and obstacle detection means 27. The control means 17 has a storage part 29 storing a required parking dimension Pp according to a width dimension W and a length dimension L of the vehicle 11, calculates the movement distance of the vehicle 11 according to the detection signals V while the width direction side of the vehicle 11 is being detected by the obstacle detection means 27 when the starting position is decided, judges whether the vehicle can be parked or not according to the judgement on whether the obstacle is detected or not till the movement distance of the vehicle 11 becomes identical to the required parking dimension Pp, and displays the judgment results to the display means 16.