An ultrasonic sensor device includes an ultrasonic transducer and a hollow case. The ultrasonic transducer includes a tubular housing having a bottom, a piezoelectric element and a vibrating surface. The piezoelectric element is fixed to an inner surface of the bottom of the tubular housing. The vibrating surface is an outer surface of the bottom of the tubular housing. The hollow case includes an opening surface, through which the hollow case receives the ultrasonic transducer such that the vibrating surface is externally exposed. The ultrasonic sensor limits an impact due to a collision by an object from being transmitted to the vibrating surface by use of a filter, which is located over the vibrating surface.