In a vehicle steering control device, a steering torque estimation unit estimates steering torque of a steering wheel based on driving current of an electric actuator; a torque sensor detects the steering torque of the steering wheel; an electric power assist unit is controlled based on the steering torque detected by the torque sensor; and a comparison unit compares the torque detected by the torque sensor with the steering torque estimated by the steering torque estimation unit. The electric power assist unit is controlled based on the estimated steering torque in place of being controlled based on the torque detected by the torque sensor when the torque sensor is judged to be abnormal, based on a comparison.