A steering control device, comprising: an actuator (6,7) for applying a steering assist torque to a steering system of a vehicle; a steering state determination section for determining a steering state of a driver; a steering assist torque calculation section for calculating the steering assist torque; a steering assist torque correction section for correcting the steering assist torque depending on a result of the steering state determination section; and an actuator control section for controlling the actuator depending on the corrected steering assist torque, wherein the steering assist torque calculation section calculates at least a first steering assist torque, which is to be applied to the actuator in order to improve return characteristics of the steering system, and a second steering assist torque that is smaller than the first steering assist torque, wherein the steering assist torque correction section comprises: a switch section (61,64) for selecting and switching, depending on the result of the steering state determination section, one steering assist torque from among at least the first steering assist torque and the second steering assist torque; and a filtering section (62,63,69,70) for suppressing an abrupt change in steering assist torque at a time of the switching, which is caused by a difference between both the steering assist torques, and wherein the actuator control section drives the actuator depending on the steering assist torque corrected by the steering assist torque correction section; characterized in that the filtering section (62,63,69,70) corrects a change amount of filtering, which is a change amount of a filter output, depending on a change amount of the selected steering assist torque. an actuator (6,7) for applying a steering assist torque to a steering system of a vehicle; a steering state determination section for determining a steering state of a driver; a steering assist torque calculation section for calculating the steering assist torque; a steering assist torque correction section for correcting the steering assist torque depending on a result of the steering state determination section; and an actuator control section for controlling the actuator depending on the corrected steering assist torque, wherein the steering assist torque calculation section calculates at least a first steering assist torque, which is to be applied to the actuator in order to improve return characteristics of the steering system, and a second steering assist torque that is smaller than the first steering assist torque, wherein the steering assist torque correction section comprises: a switch section (61,64) for selecting and switching, depending on the result of the steering state determination section, one steering assist torque from among at least the first steering assist torque and the second steering assist torque; and a filtering section (62,63,69,70) for suppressing an abrupt change in steering assist torque at a time of the switching, which is caused by a difference between both the steering assist torques, and a switch section (61,64) for selecting and switching, depending on the result of the steering state determination section, one steering assist torque from among at least the first steering assist torque and the second steering assist torque; and a filtering section (62,63,69,70) for suppressing an abrupt change in steering assist torque at a time of the switching, which is caused by a difference between both the steering assist torques, and