The anti-lock brake control device includes: a wheel motion estimator to estimate one or more of an angle, an angular velocity, and an angular acceleration of a wheel; a slip estimator to estimate a slip state of the wheel, using an estimation result of the wheel motion estimator; and an anti-lock controller to give a command for causing a brake device to reduce a braking force, in accordance with the estimated slip state of the wheel. The slip estimator includes delay compensators, such as one or a plurality of filters, which perform delay compensation for the estimation result of the wheel motion estimator. The anti-lock controller gives the command for reducing the braking force, on the basis of a result of predetermined determination including comparison of the plurality of estimation results outputted from the slip estimator.