An azimuth estimation device includes a satellite data acquisition unit that acquires Doppler shift frequencies of navigation signals, a sensor data acquisition unit that acquires a yaw rate from a yaw rate sensor, a Doppler azimuth estimation unit that estimates an azimuth of a moving object, a state variable determination unit that determines a state variable indicating reliability of an azimuth angle, a threshold selection unit that selects, from plural evaluation parameter threshold groups for determining whether to adopt the azimuth as a reference azimuth, one of the evaluation parameter threshold groups, an evaluation parameter calculation unit that calculates plural evaluation parameters for evaluating reliability of an azimuth, and an adopting determination unit that compares the plural evaluation parameters with the evaluation parameter threshold group, and based on determination that an adopting condition is satisfied, determines adoption of the azimuth as the reference azimuth.