A steering apparatus includes: a steering angle zero point detection unit configured to detect a zero point of a steering angle of a steering wheel; a history recording unit configured to record a detection history of the zero point; a characteristic variation determination unit configured to determine whether or not characteristic variation has occurred in a steering transmission system on the basis of the detection history; a pressure measurement unit configured to measure a pressure in one of a master cylinder and a wheel cylinder that apply a braking force to a vehicle wheel; and a prohibition unit configured to prohibit for a predetermined prohibition period one of detection of the zero point by the steering angle zero point detection unit and updating of the detection history by the history recording unit, when the pressure equals or exceeds a predetermined threshold.