A door opening and closing device includes: a door opening and closing drive unit capable of opening and closing a door with respect to a vehicle body; a detection unit configured to detect a plurality of detection objects around the door; a memory part configured to store a detection result of the plurality of detection objects which are detected by the detection unit; and a control unit configured to perform an open/close control of the door by way of the door opening and closing drive unit. The control unit performs an open/close control of the door based on a detection result of the detection unit and a plurality of stored information stored in the memory part.