A work vehicle 1 according to an aspect of the present invention includes: an engine 5 mounted on a traveling body 2 including traveling wheels 3 and 4; a hydraulic stepless transmission 500 that shifts a speed of a driving force from the engine 5; a gear shift pedal 41 that performs an acceleration/deceleration operation of a shifted output from the hydraulic stepless transmission 500; and a control section 813 that controls the engine 5 and the hydraulic stepless transmission 500 based on an operation amount of the gear shift pedal 41. When an operation on a set switch 65b is received in a state where the gear shift pedal 41 is pressed by a foot operation in an auto-cruise standby mode, the control section 813 stores the vehicle speed and the number of engine revolutions in accordance with the foot operation position of the gear shift pedal 41 and shifts to an auto-cruise mode.