A steering device includes a motor, a first shaft, a transmitter, a second shaft, and an engagement portion. The first shaft of a hollow cylindrical shape is coupled in a torque transmittable manner to a steering member with which a driver performs steering operation. The transmitter is disposed on an outer circumference of the first shaft and configured to transmit torque of the motor to the first shaft. The second shaft is coupled in a torque transmittable manner to a wheel-turning unit configured to turn wheels. The second shaft is inserted in the first shaft. The engagement portion is interposed between an inner surface of the first shaft and an outer surface of the second shaft and configured to make the first shaft and the second shaft engage with each other.