A vehicle position estimating apparatus for estimating a vehicle position on the basis of a vehicle position (GPS position) calculated from a signal received from a GPS satellite includes a travel direction history storage unit for storing a plurality of pieces of vehicle travel direction history information and a position estimating unit for predicting the position of a vehicle at the next position measurement time and a vehicle position range in which the vehicle is likely to be located at the next position measurement time on the basis of the GPS position, a vehicle velocity (GPS velocity), and a vehicle travel direction (GPS travel direction) which are calculated from the transmitted GPS signal or on the basis of the position of the vehicle that has been predicted at the previous position measurement time, the GPS velocity, and data on a vehicle travel direction stored in the travel direction history storage unit.