A vehicle control device includes: a key authentication unit for permitting use of a vehicle in a portable key ride mode when an authentication with a portable key is successful, and permitting use of the vehicle in an electronic key ride mode when an authentication with an electronic key is successful; a power state recognition unit for recognizing a state of power of the vehicle; a door opening and closing recognition unit for recognizing an open and closed state of a door of the vehicle, a notification control unit for issuing a first notification in the portable key ride mode and issuing a second notification in the electronic key ride mode, when the door opening and closing recognition unit recognizes that the driver's seat door of the vehicle is switched from a closed state to an open state while the power state recognition unit recognizes that the power is on.