There is provided a hydraulic control device for controlling a hydraulic pressure supplied to a vehicle start-up engagement element in an automatic transmission when a shift lever is moved from a non-drive range position to a drive range position. The hydraulic control device has a target pressure setting section that sets, based on an input torque of the automatic transmission, a target value of hydraulic pressure supplied to the vehicle start-up engagement element at the completion of engagement of the vehicle start-up engagement element and corrects the target value periodically based on the transmission input torque until the completion of engagement of the vehicle start-up engagement element and a hydraulic pressure control section that controls the hydraulic pressure in such a manner that the hydraulic pressure supplied to the vehicle start-up engagement element reaches the corrected target value at the completion of engagement of the vehicle start-up engagement element.