The invention relates to a steering control device. The steering control device includes a control unit (51), and the control unit (51) includes a target steering angle calculating unit (64) configured to calculate a target steering angle which is a target value of a steering angle of a steering wheel based on a steering torque and is configured to calculate a target reaction torque which is a target value of the steering reaction force based on execution of feedback control for causing the steering angle to match the target steering angle. The control unit (51) includes a plurality of axial force calculating units configured to calculate a plurality of kinds of axial forces acting on a turning shaft based on different state quantities; and a grip state quantity calculating unit (89) configured to calculate a grip state quantity based on the plurality of kinds of axial forces. The target steering angle calculating unit (64) is configured to calculate the target steering angle in consideration of the grip state quantity.