There is provided an antenna receiving device, an antenna holder, and a receiving device that allow receiving antennas to be easily adjusted to predetermined receiving positions on the antenna holder regardless of a body shape of a subject. The antenna receiving device includes: a belt-shaped sheet portion 51 to which a plurality of receiving antennas 4 is detachably connected to receive information transmitted from a body-insertable apparatus and that is wrapped around and attached on a trunk of the subject； a shape detection unit 52 that is provided on the outer surface of the sheet portion 51 along a longitudinal direction of the sheet portion 51 to detect the shape of the sheet portion 51； an estimation unit 651 that estimates a cross-sectional shape of the trunk of the subject； a position defining unit 652 that defines a plurality of indexes M1 corresponding to attachment positions of the plurality of receiving antennas 4 on the sheet portion 51 based on the cross-sectional shape estimated by the estimation unit 651； and a display unit 63 that displays index information indicating the plurality of indexes M1 defined by the position defining unit 652.
