A vehicle periphery monitoring device stores images photographed with a front camera, a rear camera, a left side camera, and a right side camera as a past front image, a past rear image, a past left side image, and a past right side image, respectively. When a vehicle travels while making a turn, the vehicle periphery monitoring device generates an underfloor image indicating a condition of an underfloor of the vehicle using at least one of the past front image and the past rear image and at least one of the past left side image and the past right side image. The vehicle periphery monitoring device displays the generated underfloor image on a display.