A vehicle height estimation device (1-1; 1-2; 1-3; 1-4), comprising: wheel speed detection means (2FL, 2FR, 2RL, 2RR) for detecting wheel speeds of respective wheels (11FL, 11FR, 11RL, 11RR) of a vehicle; and vehicle height estimation means for estimating a vehicle height of the vehicle on the basis of a corresponding relationship between a wheel height of a wheel (11FL, 11FR, 11RL, 11RR) of the vehicle with respect to a vehicle body of the vehicle and a value that is based on the wheel speed of the wheel (11FL, 11FR, 11RL, 11RR) and a road surface input that is inputted from a road surface to the wheel (11FL, 11FR, 11RL, 11RR), and on the basis of said detected wheel speeds of a pair of wheels; wherein: said vehicle height estimation means: performs frequency analysis of said detected wheel speeds of a pair of left and right wheels and calculates respective wheel speed characteristics of said left and right wheels at a gain-specific frequency; and estimates, as a vehicle height, a relative height of one of said left and right wheels with respect to the other one of said left and right wheels on the basis of a left-right wheel speed gain difference, which is a difference between said calculated wheel speed characteristics, and a relationship, which is said corresponding relationship, between said wheel height and an actual wheel speed gain that is based on said road surface input and said wheel speed at said gain-specific frequency. wheel speed detection means (2FL, 2FR, 2RL, 2RR) for detecting wheel speeds of respective wheels (11FL, 11FR, 11RL, 11RR) of a vehicle; and vehicle height estimation means for estimating a vehicle height of the vehicle on the basis of a corresponding relationship between a wheel height of a wheel (11FL, 11FR, 11RL, 11RR) of the vehicle with respect to a vehicle body of the vehicle and a value that is based on the wheel speed of the wheel (11FL, 11FR, 11RL, 11RR) and a road surface input that is inputted from a road surface to the wheel (11FL, 11FR, 11RL, 11RR), and on the basis of said detected wheel speeds of a pair of wheels; wherein: said vehicle height estimation means: performs frequency analysis of said detected wheel speeds of a pair of left and right wheels and calculates respective wheel speed characteristics of said left and right wheels at a gain-specific frequency; and estimates, as a vehicle height, a relative height of one of said left and right wheels with respect to the other one of said left and right wheels on the basis of a left-right wheel speed gain difference, which is a difference between said calculated wheel speed characteristics, and a relationship, which is said corresponding relationship, between said wheel height and an actual wheel speed gain that is based on said road surface input and said wheel speed at said gain-specific frequency. performs frequency analysis of said detected wheel speeds of a pair of left and right wheels and calculates respective wheel speed characteristics of said left and right wheels at a gain-specific frequency; and estimates, as a vehicle height, a relative height of one of said left and right wheels with respect to the other one of said left and right wheels on the basis of a left-right wheel speed gain difference, which is a difference between said calculated wheel speed characteristics, and a relationship, which is said corresponding relationship, between said wheel height and an actual wheel speed gain that is based on said road surface input and said wheel speed at said gain-specific frequency.