A motor driving device includes a failure detector detecting the failure of switching elements and diodes of an inverter circuit. When the failure detection unit detects a failure according to which a switching element of a phase C upper stage is not conducting, but does not detect a failure according to which the diode connected is not conducting, a motor is driven using the switching element paired with the faulty switching element and the switching elements of the other phase. When the failure detection unit detects the failure according to which the switching element of the phase C upper stage is not conducting, and detect the failure according to which the diode connected is not conducting, the switching element paired with the faulty switching element is maintained in an off state, and each of the switching elements of the other phase is on/off controlled.