A steering control device is configured to control a steering system including a turning mechanism that includes a motor configured to generate a motor torque that serves as power for moving a turning shaft to turn turning wheels of a vehicle. The steering control device includes a control unit configured to control a target control value serving as a target of a control value for controlling the motor torque of the motor. The control unit is configured to perform compensation for the target control value; acquire an offset value; and change the target control value such that the acquired offset value decreases gradually.