Disclosed is a high-strength cold-rolled steel sheet having improved stretch-flange formability and excellent hydrogen embrittlement resistance. In addition to Fe, C, Si, Mn, P, S, N, and Al, the steel sheet contains V or at least one element of Nb, Ti and Zr. The contents of the at least one element of Nb, Ti and Zr, if present, satisfy the expression of [% C]−[% Nb]/92.9×12−[% Ti]/47.9×12−[% Zr]/91.2×12>0.03. The steel sheet has an area ratio of tempered martensite of 50% or more with ferrite as the remainder. The number of precipitates having a circle-equivalent diameter of 1 to 10 nm is 20 particles or more per 1 μm2 of the tempered martensite. The number of precipitates containing V or the at least one element of Nb, Ti and Zr and having a circle-equivalent diameter of 20 nm or more is 10 particles or less per 1 μm2 of the tempered martensite.