A driving assistance device includes a determination unit to, when a vehicle is transitioned to a movable state by start of driving assistance of the vehicle and a display related to the driving assistance is presented, determine whether or not a driver is in a drivable state in which the driver is capable of consciously performing an operation, based on whether or not the driver has recognized the display, and a control unit to allow acceptance of the operation when the determination unit determines that the driver is in the drivable state.