A health condition estimation device capable of accurately estimating the health condition of a cow includes: a three-dimensional coordinates acquisition unit which acquires a group of three-dimensional coordinates representing the three-dimensional shape of a cow extracted from a distance image of the cow； a feature amount extraction unit which extracts the feature amount of the cow according to the group of three-dimensional coordinates acquired by the three-dimensional coordinates acquisition unit； and a score calculation unit which calculates a score that indicates the health condition of the cow, according to the feature amount extracted by the feature amount extraction unit. It is preferable: that the feature amount extraction unit extracts the feature amount that indicates the degree of sinking of the rumen, according to a group of three-dimensional coordinates in a rumen area in the group of three-dimensional coordinates acquired by the three-dimensional coordinates acquisition unit, the rumen area being an area on the body surface of the cow proximal to the rumen； and that the score calculation unit calculates the cow rumen fill score according to the feature amount extracted by the feature amount extraction unit and representing the degree of sinking of the rumen.
