An device of estimating slip angle of vehicle wheel comprises an attitude-toward-road surface estimation section 121 that uses a series of distances to measurement points on a road surface to estimate vehicle-body-road-surface coordinate conversion information(VCCI) for conversion from a vehicle-body coordinate system to a road-surface coordinate system ,an on-road-surface inertia quantity calculation section 122 that removes a gravity acceleration component from the vehicle-body inertia quantity to obtain inertia quantity caused by motion of a vehicle body 103 and uses the VCCI to convert from the inertia quantity caused by the motion of the vehicle body 103 to the road-surface coordinate system, and a wheel slip angle estimation section 123 that a wheel velocity vector along an inclination direction of the vehicle and a wheel acceleration, and estimates a sideslip angle of the vehicle wheel on the basis of a difference between the wheel acceleration vector and the acceleration vector converted to the road-surface coordinate system.