An actuator control device includes: a turning control value calculation unit configured to calculate a turning control value that controls an actuator configured to turn a steered wheel on a basis of an operation state amount by a driver with respect to a steering mechanism of the vehicle; a target value setting unit configured to set a target value of a state amount indicating a traveling direction of the vehicle on a basis of a surrounding environment of the vehicle; a target value control unit configured to control the actuator by integral control so that actual the state amount approaches the target value; and an integral suppression unit configured to suppress an increase in a first integral value calculated in the integral control according to a second integral value calculated according to the operation state amount.