A traffic light recognition device includes: an imaging attitude setting unit configured to set an imaging direction of the camera on the basis of a position on the image of the traffic light and of a moving direction in the future on the image of the traffic light; a camera attitude controller configured to change the imaging direction of the camera to an imaging direction set by an imaging direction setting unit; and a traffic light recognition unit configured to recognize the traffic light from an image captured in the imaging direction by the camera. The traffic light recognition device is capable of accurately detecting the lighting state of a traffic light without being affected by the attitude of a camera.