A steering control device configured to control a steering system including a housing, a turning shaft which is accommodated in the housing such that the turning shaft reciprocates, 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 comprising an electronic control unit configured to i) detect an absolute steering angle which is a rotation angle of a rotation shaft, the rotation angle of the rotation shaft being able to be converted into a turning angle of turning wheels connected to the turning shaft, and the absolute steering angle being expressed as an absolute angle in a range including a range exceeding 360°, ii) determine whether movement of the turning shaft to one of right and left sides has been limited, iii) acquire a limit position determination angle corresponding to the absolute steering angle detected when the electronic control unit determines that the movement of the turning shaft has been limited, and iv) set an end-position-corresponding angle based on the limit position determination angle, the end-position-corresponding angle being an angle indicating that the turning shaft is located at a right or left end position, and the end-position-corresponding angle being associated with the absolute steering angle, characterized in that after a value of the limit position determination angle has been acquired, the electronic control unit does not acquire another value of the limit position determination angle until surrounding environment change determination as to whether a surrounding environment around a vehicle has changed is established. an electronic control unit configured to i) detect an absolute steering angle which is a rotation angle of a rotation shaft, the rotation angle of the rotation shaft being able to be converted into a turning angle of turning wheels connected to the turning shaft, and the absolute steering angle being expressed as an absolute angle in a range including a range exceeding 360°, ii) determine whether movement of the turning shaft to one of right and left sides has been limited, iii) acquire a limit position determination angle corresponding to the absolute steering angle detected when the electronic control unit determines that the movement of the turning shaft has been limited, and iv) set an end-position-corresponding angle based on the limit position determination angle, the end-position-corresponding angle being an angle indicating that the turning shaft is located at a right or left end position, and the end-position-corresponding angle being associated with the absolute steering angle, i) detect an absolute steering angle which is a rotation angle of a rotation shaft, the rotation angle of the rotation shaft being able to be converted into a turning angle of turning wheels connected to the turning shaft, and the absolute steering angle being expressed as an absolute angle in a range including a range exceeding 360°, ii) determine whether movement of the turning shaft to one of right and left sides has been limited, iii) acquire a limit position determination angle corresponding to the absolute steering angle detected when the electronic control unit determines that the movement of the turning shaft has been limited, and iv) set an end-position-corresponding angle based on the limit position determination angle, the end-position-corresponding angle being an angle indicating that the turning shaft is located at a right or left end position, and the end-position-corresponding angle being associated with the absolute steering angle, characterized in that after a value of the limit position determination angle has been acquired, the electronic control unit does not acquire another value of the limit position determination angle until surrounding environment change determination as to whether a surrounding environment around a vehicle has changed is established.