A steering device for a vehicle provided with a steering wheel, front wheels and a front wheel steering mechanism, rear wheels and a rear wheel steering mechanism, a pair of rear wheel steering tie rods for respectively connecting the rear wheels to the rear wheel steering mechanism, and an operating shaft which connects the front and rear wheel steering mechanisms, the rear wheels being steered along with the front wheels in response to steering operation of the steering wheels. The rear wheel steering mechanism of the steering device comprises a plurality of rotary members operatively cooperating so as to rotate together, with the operating shaft being connected to the rotational center of one of the rotary members and the inner ends of the tie rods being connected to two of the rotary members at positions displaced from the rotational center, respectively. With such device, the rear wheels are rotated in the same direction as that of the front wheels under rotation of the rotary members during low steering angle operation of the steering wheel, and during large steering angle operation of the steering wheel the rear wheels are steered in a direction opposite to that of the front wheels or the steering angle of the rear wheels is reset to zero or near zero. The rear wheel steering mechanism is constructed so as to be very compact, and with high mechanical strength.