A steering control device is configured to control steering via a steering actuator of a vehicle. The steering control device includes a condition determination unit and a steering maintenance unit. The condition determination unit is configured to determine whether a maintenance condition required to keep a steering angle at a stop control angle is satisfied, the steering angle being given by the steering actuator to a tire of the vehicle, the stop control angle being the steering angle which is to be given at a stop position where the vehicle stops traveling. The steering maintenance unit is configured to keep the steering angle at the stop control angle in a pre-stop traveling section in which the vehicle travels until the vehicle arrives at the stop position after the maintenance condition is satisfied.