[Problem]An object of the present invention is to provide an electric power steering apparatus that achieves a manual steering even if a steering intervention is performed by a driver during an automatic steering, ensures more safety when a driver steers urgently, and enables both an assist control and a steering angle control.[Means for Solving the Problem]An electric power steering apparatus comprises a steering angle control section that calculates a steering angle control current command value for the steering angle control based on at least a steering angle command value and an actual steering angle, the steering angle control section comprises a position control section that calculates a basic steering angular velocity command value, a steering intervention compensating section that obtains a compensatory steering angular velocity command value, a filter section that converts a steering angular velocity calculated from the basic steering angular velocity command value and the compensatory steering angular velocity command value into an extended steering angular velocity command value, and a steering angular velocity control section that calculates the steering angle control current command value based on the extended steering angular velocity command value and an actual steering angular velocity, wherein the steering intervention compensating section comprises a compensation map section, and obtains the compensatory steering angular velocity command value for the steering torque.