An electric power assist device can be compactly disposed with ease in an electric power steering system for a vehicle. The electric power steering system for a vehicle includes: a steering wheel; a steering column incorporating therein a steering shaft connected to the steering wheel and extending downward to the front; and an electric power assist device for assisting a steering torque of the steering wheel. Here, an input shaft and an output shaft of the electric power assist device are connected to the lower end of the steering shaft and the input shaft of the steering gear device, respectively, via universal joints.