Provided is a steering control device that more appropriately performs a limiting function for a controlled variable having an abnormal value even if a plurality of kinds of state quantities that are used for steering control include a state quantity that does not meet a required level of reliability. The range of variation in first assist controlled variable calculated by using steering torque, a steering torque differential value, and a steering velocity, namely state quantities for which the required level of reliability is ensured, is limited by final limiting values calculated based on first to third limit maps. The range of variation in compensation amount calculated by using a steering angle, namely a state quantity for which the required level of reliability is not ensured, is limited by predetermined upper and lower limits. A variation in compensation amount per unit time is limited by a predetermined variation limiting value.