A distance detection device generates a distance image indicating a distance to an object positioned within a distance range targeted for measurement using a TOF system. The distance detection device includes a light source that illuminates the object with light, a light sensor that generates a detection signal by receiving a reflection light which is the illumination light reflected from the object, a controller that controls an exposure timing of the light sensor with respect to an illumination timing of the light from the light source in each of measurement ranges of a plurality of measurement ranges obtained by dividing the distance range, and a processor. The processor generates distance information by calculating distances to objects within the measurement ranges based on the detection signal in each of the measurement ranges, and generates the distance image indicating the distance to the object within the distance range targeted for measurement using the generated plural distance information items.