This shift range control device switches a shift range by controlling the driving of a motor (10), in a shift range switching system (1) in which there is play between a motor shaft (105), i.e. a rotational shaft of a motor (10), and an output shaft (15) with which rotation of the motor (10) is transmitted. A parameter calculation unit (51) calculates the motor angle, the motor speed, and the motor acceleration on the basis of a motor rotation angle signal acquired from a rotation angle sensor (13) for detecting the rotation position of the motor (10). An idling determination unit (52) determines the end of an idling state in which the motor (10) is rotating in a play range, on the basis of the motor speed and the motor accelerator. A target setting unit (55) uses an angle correction valuecorresponding to the motor angle when idling has ended, to set a motor angle target value related to the control of the driving of the motor (10). A drive control unit (56) controls the driving of the motor (10) such that the motor angle reaches the motor angle target value.