A suspension control device includes an actuator configured to change an up/down stroke of a suspension, a front sensor, and a control device configured to estimate a displacement in a vertical direction of a road surface based on a detection result of the front sensor, thereby controlling the actuator. When the control device determines that a step portion in which a wheel comes into contact with two points of the road surface viewed in a direction along a rotational axis of the wheel exists ahead of a vehicle, the control device controls a force generated by the actuator so that, when the wheel comes into contact with the two points, the wheel rolls about the point without substantially pressing the point toward the travel direction of the vehicle.