The present embodiment relates to an apparatus and method for processing a sensor signal and a steering control apparatus. In the sensor signal processing apparatus, an abnormality test is performed on three or more sensor signals (e.g., motor position sensor signals) by a sensor signal test module, and by the sensor signal selection module, a main sensor signal (e.g., a main normal motor position sensor signal) is selected on the basis of normal sensor signals (e.g., normal motor position sensor signals), validity of the selected main sensor signal is determined, and an output of the selected main sensor signal is controlled.