Provided is a motor control device which can accurately perform velocity control over a sliding door. The motor control device has a control unit which determines a command value for a duty ratio such that a moving velocity of the sliding door of a vehicle follows a target velocity set in advance while the sliding door is being opened and closed. The motor control device includes a plurality of upper stage switching elements that are connected between terminals of windings of the electric motor and the power source, and a plurality of lower stage switching elements that are connected between the terminals and a ground potential. The control unit causes all the upper stage switching elements or all the lower stage switching elements to be in a turned-on state in accordance with the command value.