A motor control device includes: a substrate on a heat sink; switching elements providing a power converter; a drive circuit IC having a pre-driver; a control circuit IC having a current control unit; first and second temperature detectors; and a temperature estimation unit of evaluation places. When the current control unit is halted after operation and is restarted after halt, the temperature estimation unit: stores estimated temperature and the first and second detected temperature at the halt; calculates, as an estimated gain, a ratio of a temperature difference at the halt to a temperature difference at restart; and estimates temperature at the restart based on a temperature difference obtained by multiplying a temperature difference between the first detected temperature and the estimated temperature at the halt by the estimated gain, and increased temperature.