The motor control device includes: a vehicle control device (1) for generating a first torque command value Tref according to state quantities of the vehicle acquired from various sensors (7); a vehicle-resonance-compensation calculation unit (23) for extracting a frequency component generating a vehicle resonance from torque ripple components detected from an electrical angle ω of a motor for traveling (3) by a vehicle resonance component extraction filter (24), and generating a second torque command value Tcmp as a resonance compensation value for carrying out feedback control for the extracted frequency component; and an adder (20) for generating a torque command value Tref_cmp by subtracting the second torque command value Tcmp from the first torque command value Tref, and the motor (3) is controlled according to the torque command value. With this, it is possible to restrain the resonance of the vehicle caused by the torque ripple of the motor (3).