A tilt servo control device of an apparatus for recording information on and reproducing information from an optical recording medium set in the apparatus, the apparatus comprising an optical system for leading a laser beam emitted from a light source to a recording surface of the optical recording medium and a laser beam reflected by the recording surface of the recording medium to a photo detector and a read signal generator for generating a read signal in accordance with an output signal of the photo detector. The tilt servo control device determines a type of the optical recording medium, generates a tilt drive signal so as to reduce a tilt angle at a position of the laser beam irradiating the recording surface and an optical axis of the laser beam by a method for generating a tilt drive signal corresponding to the recording medium type, and drives a tilt angle adjuster for adjusting the tilt angle in accordance with the tilt drive signal.