[Problem] An object of the present invention is to provide an electric power steering apparatus that reduces an uncomfortable feeling due to a noise at a steering holding and a low-speed steering time, and can smoothly steers so as to prevent a phase-lag at a high-speed steering time. [Means for solving the problem] An electric power steering apparatus that has a torque control section to calculate a current command value based on at least a steering torque, and assist-controls a steering system by driving a motor by means of a current control system based on the current command value, comprising: a motor angular velocity calculating section to calculate a motor angular velocity from a motor rotational angle, a motor angular acceleration calculating section to calculate a motor angular acceleration from the motor angular velocity, and a stability compensating section to calculate a steering torque for compensation and a current command value for compensation based on the motor angular velocity and the motor angular acceleration (adding a vehicle speed as needed), wherein the steering torque for compensation compensates the steering torque, and the current command value for compensation compensates the current command value.