A video encoding method includes encoding n pictures included in a video image using a first quantization parameter, calculating first number-of-encoded-bits information indicating number of encoded bits of every picture type, multiplexing a set frame rate by an average first-number-of-encoded-bits per picture calculated from the first-number-of-encoded-bits information to obtain a first bit rate, encoding the n pictures using a second quantization parameter, calculating second number-of-encoded-bits information indicating number of encoded bits of every picture type, multiplexing the set frame rate by an average second number-of-encoded-bits per picture calculated from the first-number-of-encoded-bits information to obtain a second bit rate, calculating a third quantization parameter, using the first bit rate, first quantization parameter, second bit rate, second quantization parameter and target bit rate, and performing the rate control using the third quantization parameter as an initial value.