A vehicle control device includes: an acquiring unit that acquires vehicle height information from a link mechanism type vehicle height sensor that is connected to a lower arm of a suspension that connects a vehicle body and wheels of a vehicle; a storage unit that stores vehicle height error information, which is information representing a relationship between an acting force that is applied to the vehicle in a horizontal direction and an error that is contained in the vehicle height information that is output by the vehicle height sensor; and a correcting unit that corrects the vehicle height information that has been acquired by the acquiring unit, based on the acting force that acts when the vehicle height information is acquired and the vehicle height error information that is stored in the storage unit.