A steering system is provided which more appropriately alleviates driver's discomfort in the wrists. A steering ECU has an estimated grip angle calculating circuit, a deviation calculating circuit, an automatic steering torque command value calculating circuit, and a grip angle command value calculating circuit. The estimated grip angle calculating circuit calculates an estimated grip angle based on a steering angle. The deviation calculating circuit calculates a deviation based on the steering angle, a steering angle deviation, and the estimated grip angle. The grip angle command value calculating circuit calculates a grip angle command value that is a sum of a grip angle and the deviation.