This driving assistance device includes a braking control unit and a target speed determination unit. The braking control unit executes driving assistance control for adjusting the braking force to be applied to a vehicle by actuating a brake actuator such that the vehicle body speed does not exceed a target speed. In cases where the accelerator pedal is being operated in a state where the braking control unit is executing the driving assistance control, the target speed determination unit determines the target speed depending on the larger value of either: the vehicle body speed that is correlated with at least one of the wheel speeds of the plurality of wheels provided to the vehicle; or the lower speed limit value that has been set.