A hydraulic control device for a hydraulic actuation machine including a main oil pump configured to supply oil to the hydraulic actuation machine, a sub oil pump configured to temporarily supply oil to the hydraulic actuation machine based on a drive request so as to compensate for an oil shortfall when supply of oil from the main oil pump to the hydraulic actuation machine is stopped or insufficient, and a drive unit configured to drive the sub oil pump, wherein when an elapsed time elapsed from a time point when the sub oil pump is driven reaches a predetermined time, the hydraulic control device generates an air discharge command for discharging air accumulated in the sub oil pump and outputs the air discharge command to the drive unit, and the drive unit drives the sub oil pump to discharge the air accumulated in the sub oil pump based on the output air discharge command.