A vehicle detection warning device may have a rear camera, a vehicle detecting unit that detects a rear vehicle according to high-brightness regions included in obtained images, a warning start deciding unit that causes a warning processing unit to start a warning when the rear vehicle is detected, a summarizing unit that counts the number of times the high-brightness region is included in images obtained by a plurality of imaging operations performed by the rear camera, an area calculating unit that calculates the area of the high-brightness region, and a warning termination deciding unit that causes the warning processing unit to stop the warning when the number of times counted by the summarizing unit decreases and the area calculated by the area calculating unit falls to or below a predetermined value.