A walking assistance device having a sitting member (1) on which the user (P) can sit straddling it, and support members (2L, 2R) placed below the sitting member (1). The sitting member (1) has a connection section (106) for connecting the sitting member (1) to the support members (2L, 2R) so that the sitting member (1) is pivotable to the left and right about a support shaft (106a). The support shaft (106a) is located at a position corresponding to that intermediate part in the front-rear length of the sitting member (1) that is in contact with the user (P). When the user (P) tries to walk swinging their hips, resistance that they receives from the sitting section is reduced to improve usability.
