This vehicle hydraulic control device comprises: a continuously variable transmission having a torque capacity that varies depending on the hydraulic pressure; and an engagement device coupled in series with the continuously variable transmission, and having a torque capacity that varies depending on the hydraulic pressure. The vehicle hydraulic control device further comprises a selecting means configured so as to select, if the source pressure for the hydraulic pressure is lower than the steady pressure set during steady vehicle travel, from among a plurality of command patterns for setting the engagement pressure of the engagement device. The selecting means selects a command pattern such that, depending on the state of change of the source pressure when the source pressure is lower than the steady pressure and/or the rotational speed of the continuously variable transmission, the torque capacity of the engagement device does not exceed the torque capacity of the continuously variable transmission (step S1).