A steering device is connected to a turning mechanism to which a part of a turning force is applied by a hydraulic mechanism. The steering device includes an electric motor, a rotation angle detector, and a steering control device. The steering control device is configured to acquire a target turning angle which is a target value of a turning angle of turning wheels, to control the electric motor such that a turning angle of the turning wheels reaches the target turning angle, to estimate a delay of an actual turning angle of the turning wheels with respect to the target turning angle based on a delay model with the detected rotation angle as an input, to output delay information, and to correct the target turning angle based on the delay information.