A travel following system includes a lower limit vehicle speed setting means and an upper limit vehicle speed setting means for previously setting a lower limit vehicle speed and an upper limit vehicle speed to control the vehicle speed by a vehicle speed control means, and a control start commanding means for instructing the vehicle speed control means to start the vehicle speed control upon operation by the driver. The vehicle speed control means is adapted to discontinue a vehicle speed control at a vehicle speed between the lower limit vehicle speed set by the lower limit vehicle speed setting means and a vehicle speed in a stopped state, thereby permitting a vehicle speed control conducted by the driver, and to carry out the vehicle speed control at a vehicle speed exceeding the lower limit vehicle speed in a state in which an accelerating or decelerating operation is not conducted by the driver. The vehicle speed control means is also adapted to ensure that the vehicle speed control is discontinued when the vehicle speed becomes a level equal to higher than the upper limit vehicle speed, and even if the vehicle speed becomes again lower than the upper limit vehicle speed, the vehicle speed control is suspended until the operation of the control start commanding means is conducted. Thus, a moderate tension is provided to the driver during operation of the travel following system so that braking operation can be easily conducted and starting of the vehicle based on the driver's will can be carried out without switching operation by the driver.