The invention relates to a cruise control device (1) capable of promptly attaining target acceleration while reducing worsening of an operation feeling at the time of acceleration control in a vehicle (10) equipped with a multistep automatic transmission (19). In acceleration control for enabling vehicle speed to approach target vehicle speed (V10), a control part (5) carries out gradient restriction on the driving force of the vehicle based on the change pattern of the required driving force calculated by the driving force calculating unit (3). On the other hand, the gear position of the multi-stage automatic transmission mechanism is changed to the target gear position required for obtaining the gear position required for the target driving force corresponding to the target vehicle speed.