An air-fuel ratio (A/F) sensor control device includes: an impedance detector detecting an impedance of an A/F sensor; and a pump current controller performing a digital control on a supply of electric current to the A/F sensor. The pump current controller includes a PID calculator calculating an instruction current value according to a difference of two input values, i.e., the difference between a PID control target value and a detection value of an inter-terminal voltage of a Nernst cell; and a protection clamper limiting a supply of electric current to a pump cell based on the instruction current value and the impedance. The protection clamper includes: a current clamp threshold calculator calculating an upper limit value and a lower limit value of the electric current based on the impedance of the Nernst cell, a first current value limiter limiting the instruction current value by the upper limit value and the lower limit value, and a second current value limiter performing a constant current limitation on an instruction current limit value by using an instruction constant current value.