An actuator control device includes a meter-in solenoid valve (V1) and a meter-out solenoid valve (V2) that control the supply and discharge of a working fluid relative to an anti rod-side oil chamber (4a), a meter-in solenoid valve (V3) and a meter-out solenoid valve (V4) that control the supply and discharge of the working fluid relative to a rod-side oil chamber (4b), a plurality of maps defining characteristics of opening areas of the meter-in solenoid valves (V1, V3) and the meter-out solenoid valves (V2, V4) relative to an actuator speed command, and a controller programmed to determine an operating condition of the actuator on the basis of a detection result from a detector that detects operation information relating to the actuator, and select a map to be used in control from the plurality of maps in accordance with the operating condition of the actuator.