A steering apparatus of an in-wheel motor-driven electric vehicle capable of steering the vehicle by controlling torques applied to in-wheel motors mounted in road wheels. The steering apparatus of an in-wheel motor-driven vehicle includes a rigid tie rod having both ends rotatably connected to the in-wheel motors of the left and right wheels through hinge pins; a steering information detecting sensor for detecting a steering operation angle and torque according to user's steering operation; and a controller for calculating torque outputs to be applied to the in-wheel motor of the left wheel and the in-wheel motor of the right wheel based on information on the steering operation angle and torque detected by the steering information detecting sensor and vehicle speed information and controlling operation of the in-wheel motor of the left wheel and the in-wheel motor of the right wheel.