A vehicle position estimation device is configured to acquire a distance from a road edge to a subject vehicle using at least one of an imaging device or a distance measuring sensor, acquire position information of lane boundary lines detected by analyzing the images captured by the imaging device; acquire map information including a lane quantity of a traveling road of the subject vehicle from a map storage, calculate, as a roadside area width, a lateral direction distance between an outermost detection line, which is an outermost boundary line among the detected boundary lines, and the road edge, and specify a traveling lane of the subject vehicle based on (i) the distance from the road edge to the subject vehicle, (ii) the roadside area width, and (iii) the lane quantity included in the acquired map information.