A vehicle vibration suppression control device that has a function of setting a motor torque instruction value based on vehicle information and controlling a torque of a motor connected to a drive wheel, the vehicle vibration suppression control device comprising: a first torque target value calculation unit that is configured to input the motor torque instruction value and use a previously modeled transmission characteristic of the vehicle to calculate a first torque target value; a lag processing unit (32, 33) that is configured to perform lag processing corresponding to a lag element included in a control system; a vehicle state amount detection unit that is configured to detect a vehicle state amount; a vehicle state amount estimation unit that is configured to estimate the vehicle state amount; a second torque target value calculation unit that is configured to include a filter having a characteristic of a model H(s)/Gp(s) formed with a model Gp(s) of a transmission characteristic of a torque input to the vehicle and a motor angular velocity and a bandpass filter H(s) in which a frequency in a vicinity of a torsional vibration frequency in the vehicle is a center frequency, input a deviation between a detection value of the vehicle state amount and an estimation value of the vehicle state amount and calculate a second torque target value; and a motor torque control unit that is configured to control a motor torque according to a final torque target value obtained by adding the first torque target value and the second torque target value, wherein the vehicle state amount estimation unit is configured to estimate the vehicle state amount based on the first torque target value on which the lag processing has been performed and the second torque target value. a first torque target value calculation unit that is configured to input the motor torque instruction value and use a previously modeled transmission characteristic of the vehicle to calculate a first torque target value; a lag processing unit (32, 33) that is configured to perform lag processing corresponding to a lag element included in a control system; a vehicle state amount detection unit that is configured to detect a vehicle state amount; a vehicle state amount estimation unit that is configured to estimate the vehicle state amount; a second torque target value calculation unit that is configured to include a filter having a characteristic of a model H(s)/Gp(s) formed with a model Gp(s) of a transmission characteristic of a torque input to the vehicle and a motor angular velocity and a bandpass filter H(s) in which a frequency in a vicinity of a torsional vibration frequency in the vehicle is a center frequency, input a deviation between a detection value of the vehicle state amount and an estimation value of the vehicle state amount and calculate a second torque target value; and a motor torque control unit that is configured to control a motor torque according to a final torque target value obtained by adding the first torque target value and the second torque target value, wherein the vehicle state amount estimation unit is configured to estimate the vehicle state amount based on the first torque target value on which the lag processing has been performed and the second torque target value.