A vehicle control device for controlling a vehicle having a power transmission mechanism which controls a power transmission state between an engine and an axle, and braking means, the vehicle control device comprising: a power transmission engine stop traveling mode (2 nd state) in which the vehicle control device is configured to allow power to be transmitted by the power transmission mechanism and to stop fuel supply to the engine to cause the vehicle to travel, wherein deceleration is achieved by engine loss and traveling resistance loss; a power shutoff brake traveling mode (3 rd state - semi-transmission state) in which the vehicle control device is configured to shut off power from the power transmission mechanism, to stop the fuel supply to the engine, and to control the braking means to obtain a deceleration of the vehicle which is smaller than in the power transmission engine stop traveling mode, and the vehicle is caused to travel, wherein deceleration is achieved by a transmission loss, traveling resistance loss and braking means and a coasting traveling mode (1 st state) in which the vehicle control device is configured to shut off the power from the power transmission mechanism, to stop the fuel supply to the engine, and the vehicle is caused to travel by inertia without braking using the braking means, further comprising means for detecting the operation amount of the accelerator pedal, and means for detecting the operation amount of the brake pedal, required deceleration estimating means for estimating a required deceleration, the vehicle being caused to travel in a traveling state selected from the respective traveling states, on the basis of the deceleration estimated by the required deceleration estimating means, and characterized in that in the power shutoff brake traveling mode (3 rd state - semi-transmission state) the required deceleration estimating means sets the required deceleration to a predetermined value until an operation amount threshold value generating the braking force from the accelerator pedal operation amount of zero and the brake pedal operation amount of zero, and when the brake pedal operation amount becomes larger than the operation amount threshold value generating the braking force, the required deceleration estimating means estimates the required deceleration to increase in accordance with the brake pedal operation amount. a power transmission engine stop traveling mode (2 nd state) in which the vehicle control device is configured to allow power to be transmitted by the power transmission mechanism and to stop fuel supply to the engine to cause the vehicle to travel, wherein deceleration is achieved by engine loss and traveling resistance loss; a power shutoff brake traveling mode (3 rd state - semi-transmission state) in which the vehicle control device is configured to shut off power from the power transmission mechanism, to stop the fuel supply to the engine, and to control the braking means to obtain a deceleration of the vehicle which is smaller than in the power transmission engine stop traveling mode, and the vehicle is caused to travel, wherein deceleration is achieved by a transmission loss, traveling resistance loss and braking means and a coasting traveling mode (1 st state) in which the vehicle control device is configured to shut off the power from the power transmission mechanism, to stop the fuel supply to the engine, and the vehicle is caused to travel by inertia without braking using the braking means, further comprising means for detecting the operation amount of the accelerator pedal, and means for detecting the operation amount of the brake pedal, required deceleration estimating means for estimating a required deceleration, the vehicle being caused to travel in a traveling state selected from the respective traveling states, on the basis of the deceleration estimated by the required deceleration estimating means, and characterized in that in the power shutoff brake traveling mode (3 rd state - semi-transmission state) the required deceleration estimating means sets the required deceleration to a predetermined value until an operation amount threshold value generating the braking force from the accelerator pedal operation amount of zero and the brake pedal operation amount of zero, and when the brake pedal operation amount becomes larger than the operation amount threshold value generating the braking force, the required deceleration estimating means estimates the required deceleration to increase in accordance with the brake pedal operation amount.