A steering apparatus for vehicles that assists and controls a steering system includes a torsional angle control section that calculates a motor current command value to make the torsional angle follow a target torsional angle; the torsional angle control section includes a steering angle disturbance compensating section that calculates a first compensation motor current command value by performing filter processing to the detected steering angle, and the torsional angle control section performs compensation by the first compensation motor current command value in calculation of the motor current command value.