A steering control device for a steering system including a housing, a turning shaft that is accommodated in the housing such that the turning shaft is able to reciprocate, and an actuator that applies a motor torque for causing the turning shaft to reciprocate using a motor as a drive source, the steering control device comprising: an absolute steering angle detecting unit 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°; and a current command value calculating unit configured to calculate a current command value corresponding to a target value of the motor torque output from the motor, wherein the steering control device is configured to control activation of the motor such that an actual current value which is supplied to the motor reaches the current command value, the current command value calculating unit is configured to store an end-position-corresponding angle which is an angle indicating an end position at which movement of the turning shaft is limited due to end contact in which the turning shaft comes into contact with the housing and which is correlated with the absolute steering angle, the current command value calculating unit is configured to perform end contact relaxation control for correcting the current command value such that a decrease of an end separation angle indicating a distance of the absolute steering angle from the end-position-corresponding angle is limited when the end separation angle is equal to or less than a predetermined angle, the current command value calculating unit is configured to perform partial release control for decreasing a correction value of the current command value due to execution of the end contact relaxation control when a vehicle is tried to be turned at the time of execution of the end contact relaxation control, characterized in that the current command value calculating unit is configured to stop the partial release control when the current command value which is calculated at the time of execution of the partial release control is a value which is not affected by decreasing the correction value based on execution of the partial release control. an absolute steering angle detecting unit 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°; and a current command value calculating unit configured to calculate a current command value corresponding to a target value of the motor torque output from the motor, wherein the steering control device is configured to control activation of the motor such that an actual current value which is supplied to the motor reaches the current command value, the current command value calculating unit is configured to store an end-position-corresponding angle which is an angle indicating an end position at which movement of the turning shaft is limited due to end contact in which the turning shaft comes into contact with the housing and which is correlated with the absolute steering angle, the current command value calculating unit is configured to perform end contact relaxation control for correcting the current command value such that a decrease of an end separation angle indicating a distance of the absolute steering angle from the end-position-corresponding angle is limited when the end separation angle is equal to or less than a predetermined angle, the current command value calculating unit is configured to perform partial release control for decreasing a correction value of the current command value due to execution of the end contact relaxation control when a vehicle is tried to be turned at the time of execution of the end contact relaxation control, characterized in that the current command value calculating unit is configured to stop the partial release control when the current command value which is calculated at the time of execution of the partial release control is a value which is not affected by decreasing the correction value based on execution of the partial release control.