A steering feel control apparatus of an MDPS may include: a release steering detection unit configured to detect release steering using column torque or motor current; a reverse steering detection unit configured to detect reverse steering using a steering angular velocity or motor angular velocity; a compensation gain detection unit configured to detect a compensation gain using the steering angular velocity or the motor angular velocity; a high frequency input unit configured to filter the column torque or the motor current and input a high frequency; and a compensation gain compensation unit configured to apply the compensation gain detected by the compensation gain detection unit to the high frequency inputted by the high frequency input unit, when release steering is detected by the release steering detection unit or reverse steering is detected by the reverse steering detection unit.