A vehicle control device includes: a travelable region detecting device configured to detect a travelable region of a vehicle； a travel control device configured to execute trajectory control based on a target vehicle behavior amount calculated for the vehicle to travel in the travelable region detected by the travelable region detecting device； and a control device configured to calculate a target lateral position correction amount and a target yaw angle correction amount such that a vehicle response to a steering member of a driver when the trajectory control is executed becomes a predetermined vehicle response and correct the target vehicle behavior amount by using a corrected target lateral position based on the calculated target lateral position correction amount and a corrected target yaw angle based on the calculated target yaw angle correction amount when the trajectory control is executed by the travel control device.
