A pedal input device includes a base plate; a rotation center portion provided at the center of the base plate; a contacting plate having a yaw switch contacting portion protruding downwards from lower surface of the contacting plate; a pedal plate carried by the contacting plate and foot-operated so as to cause a drive member to make three-degree-of-freedom movement; a pair of pitch switches installed on the base plate in an opposing relationship with each other; a pair of roll switches installed on the base plate in an perpendicular relationship to the pitch switches so that the roll switches can be alternately contacted to the contacting plate of the pedal plate; and a pair of yaw switches installed on the base plate in an spaced-apart relationship with each other so that the yaw switches can be alternately contacted to the yaw switch contacting portion as the pedal plate rotates.