A door step device for a vehicle includes: a step panel; a rack gear part which extends from the a step panel and has a locking groove formed at a side thereof; a pinion gear part which gear-meshed with the rack gear part, and rotates by power from a driving motor; a tilting operation part including a projection pin and a solenoid adjusting a projected amount of the projection pin; and a control unit which controls the driving motor at the time of the operation of the step panel to draw the rack gear part and controls the solenoid to tilt the rack gear part and the step panel to the ground.