A steering control apparatus controls steering characteristics by controlling a motor to output assist torque, which is generated corresponding to a steering torque applied to a steering shaft. The steering control apparatus includes a torque deviation generator generating a torque deviation between the steering torque applied to the steering shaft and a target steering torque and a command value generator generating an assist torque command value for controlling the motor based on a basic command value. The basic command value controls the torque deviation to become zero. The command value generator includes an integrator integrating and outputting the torque deviation and an output limiter setting an output limit to an immediately previous basic command value obtained immediately before the basic command value. The output limiter generates the assist torque command value using the immediately previous basic command value to which the output limit is set.