In vehicle headlamp control apparatuses, which receive a direct current voltage Es, light discharge lamps by square waves, and drive motors, in each of which the number is at least one, arithmetic operations are performed for synchronizing the square waves for lighting the discharge lamps and pulses for driving the motors with each other and for driving the motors within a substantially constant time after polarities of the square waves for lighting the discharge lamps are inverted. By using an inexpensive microcomputer, the vehicle headlamp control apparatuses make it possible to realize lighting controls for the discharge lamps and smooth drive controls for headlamps and auxiliary lamps by the motors for varying optical axes thereof.