A lane departure control system is provided which steers a vehicle toward the center of a lane of a road at a first yaw rate by a controlled angle when the vehicle is determined to be about to deviate from the lane. Afterwards, when the vehicle is determined to be traveling toward a virtual line defined near a lane boundary, the system steers the vehicle by a correction angle so as to orient the vehicle parallel to the virtual line at a second yaw rate. The system changes the value of the first yaw rate at a first rate within the controlled angle and also changes the value of the second yaw rate at a second rate within the correction angle. An absolute value of the second rate is set smaller than that of the first rate, thereby minimizing an undesirable physical load on a driver of the vehicle.