A steering control device that controls a steering system including a housing, a turning shaft which is accommodated in the housing such that the turning shaft is able to reciprocate, and an actuator which applies a motor torque for causing the turning shaft to reciprocate using a motor as a drive source, the steering control device characterized by comprising an electronic control unit, characterized in that: the electronic control unit is configured to detect an absolute steering angle which is a rotation angle of a rotation shaft which is able to be converted into a turning angle of turning wheels connected to the turning shaft and which is expressed as an absolute angle including a range exceeding 360°; the electronic control unit is configured to control driving of the motor such that the motor torque reaches a torque command value, the electronic control unit being configured to store an end-position-corresponding angle, the end-position-corresponding angle being an angle which indicates an end position at which movement of the turning shaft is limited by an end contact in which the turning shaft comes into contact with the housing and which is correlated with the absolute steering angle; the electronic control unit is configured to determine whether the movement of the turning shaft to one of right and left sides has been limited by the end contact or execution of the end contact relaxation control; the electronic control unit is configured to acquire a plurality of limit position determination angles (θi) corresponding to the absolute steering angle when the electronic control unit determines that the movement of the turning shaft has been limited; characterized in that the electronic control unit being configured to perform end contact relaxation control when an end separation angle indicating a distance of the absolute steering angle from the end-position-corresponding angle is equal to or less than a predetermined angle, the end contact relaxation control being control for correcting the torque command value such that a decrease of the end separation angle is limited; the electronic control unit being configured to permit update of the end-position-corresponding angle based on a variance of the plurality of limit position determination angles; and the electronic control unit is configured to update the end-position-corresponding angle stored in the electronic control unit when the electronic control unit permits update of the end-position-corresponding angle. the electronic control unit is configured to detect an absolute steering angle which is a rotation angle of a rotation shaft which is able to be converted into a turning angle of turning wheels connected to the turning shaft and which is expressed as an absolute angle including a range exceeding 360°; the electronic control unit is configured to control driving of the motor such that the motor torque reaches a torque command value, the electronic control unit being configured to store an end-position-corresponding angle, the end-position-corresponding angle being an angle which indicates an end position at which movement of the turning shaft is limited by an end contact in which the turning shaft comes into contact with the housing and which is correlated with the absolute steering angle; the electronic control unit is configured to determine whether the movement of the turning shaft to one of right and left sides has been limited by the end contact or execution of the end contact relaxation control; the electronic control unit is configured to acquire a plurality of limit position determination angles (θi) corresponding to the absolute steering angle when the electronic control unit determines that the movement of the turning shaft has been limited; characterized in that the electronic control unit being configured to perform end contact relaxation control when an end separation angle indicating a distance of the absolute steering angle from the end-position-corresponding angle is equal to or less than a predetermined angle, the end contact relaxation control being control for correcting the torque command value such that a decrease of the end separation angle is limited; the electronic control unit being configured to permit update of the end-position-corresponding angle based on a variance of the plurality of limit position determination angles; and the electronic control unit is configured to update the end-position-corresponding angle stored in the electronic control unit when the electronic control unit permits update of the end-position-corresponding angle.