A vehicle travel control device includes a preceding vehicle offset calculation unit and a control target point setting unit. The preceding vehicle offset calculation unit calculates a lateral offset amount of a center position of a preceding vehicle with respect to a center position of a travel lane, in a first state where a host vehicle recognizes the travel lane. The control target point setting unit sets the center position of the travel lane as a control target point of travel control to follow the travel lane, when the host vehicle is in the first state, and that sets a position shifted as much as the offset amount from the center position of the preceding vehicle as a control target point of travel control to follow the preceding vehicle, when the host vehicle shifts from the first state to a second state where the host vehicle does not recognize the travel lane.