A vehicle monitoring system includes a lamp unit that includes a first light source configured to emit light that forms a first light distribution area on a virtual vertical screen disposed at a predetermined distance from a vehicle, and a second light source configured to emit light that forms a second light distribution area having a luminance higher than that of the first light distribution area on the virtual vertical screen, and forms a predetermined light distribution pattern on the virtual vertical screen by the first light distribution area and the second light distribution area; a visible light camera that captures a periphery of the vehicle; and a controller configured to control at least one of an emission timing of the second light source or an image capturing timing of the visible light camera.