This paper proposes a driver assistance device to notify vehicle drivers an optimal gear shifting timing considering fuel consumption in manual transmission vehicles. The haptic cue function of the proposed gear shifting assistance device is utilizing magnetorheological (MR) clutch mechanism as haptic interface between driver and vehicle. The shear stress level and hysteretic behavior of the employed MR fluid are experimentally observed and identified with the Preisach model. A rotary type clutch mechanism is designed and manufactured with electromagnetic circuit and its transmission torque level is experimentally evaluated according to the applied current. The manufactured MR clutch is integrated with accelerator pedal on which driver’s foot is placed to transmit haptic cue signal. In the meantime, a cue algorithm for gear shifting is formulated by considering vehicle model. The cue algorithm is then integrated with a haptic controller which is a torque model based-compensation strategy regarding Presiach hystersis linearization of the employed MR fluid. In this work, the haptic cue controller is implemented in discrete manner. Control performances are experimentally evaluated such as haptic tracking responses.