A vehicle door opening and closing control device opens or closes a door of a vehicle according to a kicking motion of a leg detected by a kick sensor. A threshold is set for output from the kick sensor. Motion duration time until the output from the sensor falls below the threshold after the output from the sensor exceeds the threshold in a kicking motion is measured. Motion completion estimated time until the kicking motion is completed is calculated according to the motion duration time, for example, by assuming that motion completion estimated time=motion duration time/2. When the elapsed time after the output from the sensor falls below the threshold reaches the motion completion estimated time, opening operation or closing operation of the door starts.