There is provided a vehicle type identification device including a detection section detecting, based on a vehicle region extracted from a captured image, on an imaging plane, a ground point, a first endpoint, a minimum ground clearance point, a second endpoint, and an upper endpoint of a vehicle, a vehicle width estimation section estimating a vehicle width in a real space based on the ground point, the first endpoint, and the minimum ground clearance point, a vehicle length estimation section estimating a vehicle length in the real space based on the ground point, the first endpoint, and the second endpoint, a vehicle height estimation section estimating a vehicle height in the real space based on the ground point, the first endpoint, and the upper endpoint, and a vehicle type identification section identifying a type of the vehicle based on the vehicle width, the vehicle length, and the vehicle height.