A gripping device comprising: a bag-shaped gripping body made of an elastic material and configured for connection to a vacuum port, the gripping body including: a palm portion; and a plurality of finger portions protruding from a periphery of the palm portion and configured to fall toward the palm portion upon deformation of the palm portion in a thickness direction by the sucking of air out of the gripping body and reducing of pressure in the gripping body; a plurality of elastic portions respectively provided in the plurality of finger portions, each of the plurality of elastic portions having a shape of each of the plurality of finger portions; and a shape holding portion provided in the bag-shaped gripping body to prevent contraction of an outer periphery of the palm portion, the shape holding portion being a frame-like member including: a guide bore configured to receive the palm portion when being deformed; and a curved portion provided on an outer side of a distal end of the shape holding portion in an axial direction of the guide bore, the distal end facing the plurality of finger portions, wherein the shape holding portion has an inner peripheral surface formed so that an inner diameter of the guide bore gradually decreases from the distal end facing the plurality of finger portions toward a base end. a bag-shaped gripping body made of an elastic material and configured for connection to a vacuum port, the gripping body including: a palm portion; and a plurality of finger portions protruding from a periphery of the palm portion and configured to fall toward the palm portion upon deformation of the palm portion in a thickness direction by the sucking of air out of the gripping body and reducing of pressure in the gripping body; a palm portion; and a plurality of finger portions protruding from a periphery of the palm portion and configured to fall toward the palm portion upon deformation of the palm portion in a thickness direction by the sucking of air out of the gripping body and reducing of pressure in the gripping body; a plurality of elastic portions respectively provided in the plurality of finger portions, each of the plurality of elastic portions having a shape of each of the plurality of finger portions; and a shape holding portion provided in the bag-shaped gripping body to prevent contraction of an outer periphery of the palm portion, the shape holding portion being a frame-like member including: a guide bore configured to receive the palm portion when being deformed; and a curved portion provided on an outer side of a distal end of the shape holding portion in an axial direction of the guide bore, the distal end facing the plurality of finger portions, wherein a guide bore configured to receive the palm portion when being deformed; and a curved portion provided on an outer side of a distal end of the shape holding portion in an axial direction of the guide bore, the distal end facing the plurality of finger portions, wherein the shape holding portion has an inner peripheral surface formed so that an inner diameter of the guide bore gradually decreases from the distal end facing the plurality of finger portions toward a base end.