A steering control device includes a controller including a drive circuit that performs action for supplying, to a motor, electric power supplied by being connected to at least one of a first and a second power supply. When a connection state of the drive circuit is a state in which electric power is supplied from the first power supply, the connection state is switched by a power supply device to transition to a second state in which electric power is supplied from the second power supply when an abnormality of the first power supply is detected. Moreover, the controller starts an output limiting process of limiting torque outputtable by the motor as compared with before the abnormality of the first power supply is detected, after the abnormality is detected and before switching of the connection state is completed.