An in-vehicle sensor cleaning system installed in a vehicle includes: a cleaning unit configured to automatically or manually perform cleaning of an in-vehicle sensor installed in the vehicle; a setting unit configured to set an automatic cleaning function to on and off, the automatic cleaning function causing the cleaning unit to automatically perform the cleaning of the in-vehicle sensor; and a notification unit configured to provide a notification about switching a setting of the automatic cleaning function, based on information on past cleaning of the in-vehicle sensor, when the automatic cleaning function is set to off by the setting unit.