A steering apparatus for vehicle (1) comprises a steering shaft (3) including a first portion (5) connected to a steering member (2) and a second portion (6) connected to steerable wheels (4L, 4R); a transmission ratio variable mechanism (8) capable of varying a transmission ratio ( Theta2/ Theta1) as a ratio of a steered angle ( Theta2) of the steerable wheels to a steering angle ( Theta1) of the steering member; and a reaction-force compensation motor (23) for compensating a steering reaction force of the steering member caused by the operation of the transmission ratio variable mechanism. The transmission ratio variable mechanism (8) includes a differential mechanism (17;17G;17H) for differentially rotatably interconnecting the first and second portions (5, 6); and a differential-mechanism motor (18) for driving the differential mechanism (17;17G;17H). Both an axis (L4) of a rotary shaft (22) of the differential-mechanism motor (18) and an axis (L5) of a rotary shaft (36) of the reaction-force compensation motor (23) are aligned with an axis (L1) of the steering shaft 3.