A vehicle control device characterized in comprising: a variable-damping-force shock absorber of adjustable damping force provided on front and rear wheels; and a front wheel speed sensor (5FR, 5FL) for detecting front wheel speed, the front wheel speed sensor (5FR, 5FL) being connected to a front wheel axle; characterized by sprung rear wheel speed estimation means and unsprung rear wheel speed estimation means to estimate the rear wheel speed by delaying the front wheel speed detected by the front wheel speed sensors (5FR, 5FL); damping force control amount calculation means for calculating a damping force control amount for the variable-damping-force shock absorber according to frequency scalar quantities, by taking the front wheel speed detected by the front wheel speed sensor (5FR, 5FL) and the size of the amplitude of the frequency of the rear wheel speed estimated by the rear wheel speed estimation means (305a, 305b) as the frequency scalar quantities; and damping force control means for controlling the damping force of the variable-damping-force shock absorber on the basis of the damping force control amount calculated by the damping force control amount calculation means, whereby the sprung rear wheel speed estimation means prohibits said estimation when vehicle speed is equal to or greater than a vehicle speed threshold value that is based on a vehicle speed at which an amount of stored information exceeds an upper limit of pre-selected buffer region when the vehicle is driving at constant vehicle speed, and when vehicle speed is less than a vehicle speed threshold value that is based on a wheel speed obtained by dividing the vehicle wheel base by the sampling cycle of the wheel speed sensor values obtained by the front wheel speed sensors (5FR, 5FL). a variable-damping-force shock absorber of adjustable damping force provided on front and rear wheels; and a front wheel speed sensor (5FR, 5FL) for detecting front wheel speed, the front wheel speed sensor (5FR, 5FL) being connected to a front wheel axle; characterized by sprung rear wheel speed estimation means and unsprung rear wheel speed estimation means to estimate the rear wheel speed by delaying the front wheel speed detected by the front wheel speed sensors (5FR, 5FL); damping force control amount calculation means for calculating a damping force control amount for the variable-damping-force shock absorber according to frequency scalar quantities, by taking the front wheel speed detected by the front wheel speed sensor (5FR, 5FL) and the size of the amplitude of the frequency of the rear wheel speed estimated by the rear wheel speed estimation means (305a, 305b) as the frequency scalar quantities; and damping force control means for controlling the damping force of the variable-damping-force shock absorber on the basis of the damping force control amount calculated by the damping force control amount calculation means, whereby the sprung rear wheel speed estimation means prohibits said estimation when vehicle speed is equal to or greater than a vehicle speed threshold value that is based on a vehicle speed at which an amount of stored information exceeds an upper limit of pre-selected buffer region when the vehicle is driving at constant vehicle speed, and when vehicle speed is less than a vehicle speed threshold value that is based on a wheel speed obtained by dividing the vehicle wheel base by the sampling cycle of the wheel speed sensor values obtained by the front wheel speed sensors (5FR, 5FL).