An electric power steering apparatus that easily obtains desired steering torques to a steering angle without being affected by a road surface state and changes of mechanism characteristics of a steering system due to aging. The apparatus includes a target steering torque generating section to generate a target steering torque based on at least one of EPS/vehicle information, a converting section to convert the target steering torque into a target torsional angle, and a torsional angle control section to calculate the current command value based on the target torsional angle, a steering angle, a torsional angle of a torsion bar and a motor angular velocity.