A follow-up start control device for a vehicle includes a recognition unit, a first determination unit, a second determination unit, a controller, an estimation unit, and a setting unit. The recognition unit is configured to detect a stop and a start of a preceding vehicle. The first determination unit is configured to determine presence or absence of a traffic jam on a road. The second determination unit is configured to compare stop time with permission time. The controller is configured to execute a follow-up automatic start control when the second determination unit determines that the stop time is equal to or shorter than the permission time. The estimation unit is configured to estimate a category of the road, when the first determination unit determines the presence of the traffic jam. The setting unit is configured to set the permission time, in accordance with the category of the road.