A vehicle control device includes a drive source for generating torque as driving force that causes a vehicle to travel, a drive source control mechanism for controlling the torque generation by the drive source, a driving force transmission mechanism for transmitting the torque to vehicle wheels, an engageable element provided in the transmission mechanism, and a processor configured to execute an engagement state change control in which an engagement state of the engageable element is changed, a vehicle attitude controlling module for controlling attitude of the vehicle by driving the drive source control mechanism to reduce the torque so as to decelerate the vehicle, when a condition is satisfied, the condition being that the vehicle is traveling and a steering angle related value increases, and an engagement state change restricting module for restricting the execution of the engagement state change control while the vehicle attitude control is executed.