With the popularization of on-board GPS positioning equipment, a large amount of vehicle trajectory data and location information have been generated, and various trajectory mining technologies have emerged as the times require. However, the existing trajectory mining technologies rarely consider the leakage of users’ privacy. Therefore, this study proposes a method of stay point mining from vehicle trajectory data integrating privacy protection. In this algorithm, the stay points in the trajectory are screened out by density clustering, and privacy protection of the stay points is then conducted with the differential privacy technology. The experimental verification shows that the proposed method can not only effectively identify the location of the stay points but also protect their privacy from being leaked.