A docking device including: a base ring disposed in a first space vehicle; a first-side capturing ring for coming into contact with the second space vehicle; six links that constitute a parallel link mechanism for coupling the base ring to the first-side capturing ring; and linear actuators, each of which extends and contracts the link by using a motor as a driving source, wherein resistance generation mechanisms, each of which generates a regenerative current in the motor of the linear actuator to produce resistance force when the second space vehicle comes into contact with the first-side capturing ring and the link receives a compressive load, are provided. Correction of misalignment with the second space vehicle, and attenuation of inertia force that the second space vehicle has can be performed without requiring complicated electrical control, and simplification and cost reduction of an electrical system can be implemented.