A control device of an inverted pendulum type vehicle capable of simplifying the steering of the vehicle, and of improving handling quality thereof, is provided. A control unit 50 of an inverted pendulum type vehicle sequentially determines a target-of-retaining velocity magnitude amount which is a magnitude of a desired velocity of a predetermined representative point in a predetermined period of time, or a magnitude of a component in a predetermined direction of the desired velocity, to be retained stable to a value identical to the target-of-retaining velocity magnitude amount in relation to the desired velocity determined immediately before start of the period of time, in the case where a predetermined condition is satisfied, and control the traveling motion of a traveling motion unit 5 in accordance with the determined desired velocity.