A sprung mass velocity estimating apparatus used in a four-wheeled vehicle to estimate a sprung mass velocity of a point of a vehicle body corresponding to each wheel of the vehicle, includes a state quantity detecting unit which detects a state quantity of the vehicle, a base value calculating unit which calculates a sprung mass velocity base value for each of the four vehicle body points based on a detection result of the state quantity detecting unit by using a prescribed oscillation model, and a sprung mass velocity calculating unit which calculates the sprung mass velocity for each vehicle body point by mutually adjusting the sprung mass velocity base values for the four vehicle body points such that the four vehicle body points are located on a common flat plane.