In a three-axis control antenna device for tracking an orbiting satellite, a vertical axis driver (5) drives a vertical axis, which is rotatable around a vertical line, for azimuth angle tracking. A horizontal axis driver (6) drives a horizontal axis, which is rotatable in relation to the vertical axis around a line orthogonal to the vertical axis, for elevation angle tracking. A cross horizontal axis driver (7) is rotatable in relation to the horizontal axis, within an angle range smaller than the rotation angle of the horizontal axis, around an axis orthogonal to the horizontal axis. An antenna (8) is attached to the cross horizontal axis. An arithmetic processing controller (14) generates a drive signal of a constant azimuth angle determined from a travel path of a target object for a vertical axis servo controller (11) when a maximum elevation angle of the antenna (8) is greater than or equal to a set elevation angle in a path of the target object in a single time of continuous tracking. When the maximum elevation angle of the antenna (8) is less than the set elevation angle in the path of the target object in the single time of continuous tracking, the arithmetic processing controller (14) issues a drive command of an azimuth angle direction to the vertical axis servo controller (11).