A vehicle control apparatus (50; 154) configured to control a motor (31; 151) based on a command value (T*; T a *) to be calculated based on a steering condition, the motor being a source of a driving force to be applied to a steering mechanism of a vehicle, the vehicle control apparatus comprising: a first calculation circuit (51; 162) configured to calculate a first component (Ti*; T a1 *) of the command value (T*; T a *) based on at least a steering torque (T h); a second calculation circuit (52; 163) configured to calculate a target rotation angle (θ*; θ p *) of a rotating body based on a basic drive torque (T in *), which is a total sum of the steering torque (T h) and the first component (T 1 *; T a1 *), the rotating body being configured to rotate in association with a turning operation of a steered wheel; and a third calculation circuit (54; 164) configured to calculate a second component (T 2 *; T a2 *) of the command value (T*; T a *) through feedback control performed so that an actual rotation angle of the rotating body equals the target rotation angle, characterized in that the second calculation circuit (52; 163) includes: an ideal axial force calculation circuit configured to calculate an ideal axial force (F i) based on the target rotation angle; an estimated axial force calculation circuit (92, 93, 94, 95a) configured to calculate, as an estimated axial force (F e), an axial force applied to the steered wheel based on a state variable that reflects vehicle behavior or a road condition; a blending calculation circuit configured to calculate a final axial force (F sp) to be reflected in the basic drive torque (T in *) as a reaction force component for the basic drive torque (T in *) by summing up a value (F h) obtained by multiplying the ideal axial force (F i) by a blending ratio (D k) and a value (F g) obtained by multiplying the estimated axial force (F e) by a blending ratio (D J), the blending ratios being set individually based on the state variable that reflects the vehicle behavior or the road condition or based on the steering condition; and a subtractor configured to calculate an axial force deviation (ΔF), which is a difference between the ideal axial force (F i) and the estimated axial force (F e), and the second calculation circuit (52; 163) is configured to change the target rotation angle in response to the axial force deviation (ΔF). a first calculation circuit (51; 162) configured to calculate a first component (Ti*; T a1 *) of the command value (T*; T a *) based on at least a steering torque (T h); a second calculation circuit (52; 163) configured to calculate a target rotation angle (θ*; θ p *) of a rotating body based on a basic drive torque (T in *), which is a total sum of the steering torque (T h) and the first component (T 1 *; T a1 *), the rotating body being configured to rotate in association with a turning operation of a steered wheel; and a third calculation circuit (54; 164) configured to calculate a second component (T 2 *; T a2 *) of the command value (T*; T a *) through feedback control performed so that an actual rotation angle of the rotating body equals the target rotation angle, characterized in that the second calculation circuit (52; 163) includes: an ideal axial force calculation circuit configured to calculate an ideal axial force (F i) based on the target rotation angle; an estimated axial force calculation circuit (92, 93, 94, 95a) configured to calculate, as an estimated axial force (F e), an axial force applied to the steered wheel based on a state variable that reflects vehicle behavior or a road condition; a blending calculation circuit configured to calculate a final axial force (F sp) to be reflected in the basic drive torque (T in *) as a reaction force component for the basic drive torque (T in *) by summing up a value (F h) obtained by multiplying the ideal axial force (F i) by a blending ratio (D k) and a value (F g) obtained by multiplying the estimated axial force (F e) by a blending ratio (D J), the blending ratios being set individually based on the state variable that reflects the vehicle behavior or the road condition or based on the steering condition; and a subtractor configured to calculate an axial force deviation (ΔF), which is a difference between the ideal axial force (F i) and the estimated axial force (F e), and an ideal axial force calculation circuit configured to calculate an ideal axial force (F i) based on the target rotation angle; an estimated axial force calculation circuit (92, 93, 94, 95a) configured to calculate, as an estimated axial force (F e), an axial force applied to the steered wheel based on a state variable that reflects vehicle behavior or a road condition; a blending calculation circuit configured to calculate a final axial force (F sp) to be reflected in the basic drive torque (T in *) as a reaction force component for the basic drive torque (T in *) by summing up a value (F h) obtained by multiplying the ideal axial force (F i) by a blending ratio (D k) and a value (F g) obtained by multiplying the estimated axial force (F e) by a blending ratio (D J), the blending ratios being set individually based on the state variable that reflects the vehicle behavior or the road condition or based on the steering condition; and a subtractor configured to calculate an axial force deviation (ΔF), which is a difference between the ideal axial force (F i) and the estimated axial force (F e), and the second calculation circuit (52; 163) is configured to change the target rotation angle in response to the axial force deviation (ΔF).