A vehicle attitude control device derives a stability factor during turning of a vehicle based on the behavior of the vehicle to take the derivation result as an estimated stability factor (step 112), compares the estimated stability factor with a reference stability factor (steps 114 and 116), varies an attitude control necessary-or-not judgment sensitivity based on the comparison result (steps 118, 130 and 134), and executes the attitude control for the vehicle (step 126).