A steering control device for assisting steering of a steering wheel of a vehicle by a driver, the steering control device comprising: a steering torque detection unit which detects a steering torque of the steering wheel; a vehicle speed detection unit which detects a vehicle speed of the vehicle; a motor which applies a steering assistance force to the steering wheel; a first current command value calculation unit which calculates a first current command value for the motor on the basis of the steering torque detected by the steering torque detection unit and the vehicle speed detected by the vehicle speed detection unit; a steering torque differentiation unit which calculates a differential value of the steering torque detected by the steering torque detection unit; a notch filter processing unit which has a notch filter and filters the differential value of the steering torque by using the notch filter; a second current command value calculation unit which calculates a second current command value for the motor, on the basis of the filtered differential value of the steering torque; and a current drive unit which drives the motor in such a manner that a value of a current flowing in the motor matches the sum of the first current command value and the second current command value, wherein, when a first crossover frequency represents the crossover frequency of control open loop characteristics of the steering control device as obtained when the second current command value calculation unit determines the second current command value by using a differential value of the steering torque which has not been filtered, instead of a differential value of the steering torque which has been filtered, a notch frequency of the notch filter is set to be larger than a mechanical resonance frequency of the steering control device and smaller than the first crossover frequency. a steering torque detection unit which detects a steering torque of the steering wheel; a vehicle speed detection unit which detects a vehicle speed of the vehicle; a motor which applies a steering assistance force to the steering wheel; a first current command value calculation unit which calculates a first current command value for the motor on the basis of the steering torque detected by the steering torque detection unit and the vehicle speed detected by the vehicle speed detection unit; a steering torque differentiation unit which calculates a differential value of the steering torque detected by the steering torque detection unit; a notch filter processing unit which has a notch filter and filters the differential value of the steering torque by using the notch filter; a second current command value calculation unit which calculates a second current command value for the motor, on the basis of the filtered differential value of the steering torque; and a current drive unit which drives the motor in such a manner that a value of a current flowing in the motor matches the sum of the first current command value and the second current command value, wherein, when a first crossover frequency represents the crossover frequency of control open loop characteristics of the steering control device as obtained when the second current command value calculation unit determines the second current command value by using a differential value of the steering torque which has not been filtered, instead of a differential value of the steering torque which has been filtered, a notch frequency of the notch filter is set to be larger than a mechanical resonance frequency of the steering control device and smaller than the first crossover frequency.