A tilt angle detection device and method which generates, as a first push-pull signal, a difference between light reception signals corresponding to two light receiving surfaces of one side of a photodetector, which are divided along the track tangent direction; generates, as a second push-pull signal, a difference between the light reception signals corresponding to two light receiving surfaces of the other side of the photodetector; and generates a tilt signal that indicates a tilt angle defined by a normal on the recording surface of the optical recording medium at a position of irradiation of the laser beam and the optical axis of the laser beam in accordance to a difference between amplitudes of the first and second push-pull signals.