An electric power steering control device comprising: a motor configured to receive electrical power from a battery and output an assist force for assisting steering with a steering wheel; a battery voltage sensor configured to detect a voltage of the battery; a target value setting unit configured to set a gain target value (G*), which is a target value of a gain used to control the assist force output by the motor, on a basis of the voltage detected by the battery voltage sensor; a gain setting unit configured to set the gain on a basis of the gain target value (G*) set by the target value setting unit; a torque sensor configured to detect a steering torque applied by the steering wheel; and a control unit configured to control the assist force output by the motor on a basis of the gain set by the gain setting unit and the steering torque detected by the torque sensor, characterized in that the target value setting unit sets the gain target value (G*) to a predetermined usual value when the voltage detected by the battery voltage sensor is within a predetermined range of usual voltage, and sets the gain target value (G*) to a value below the usual value when the voltage is outside the range of the usual voltage; and in that the gain setting unit determines whether or not a set gain (Gr) at recovery, which is the gain set by the gain setting unit at recovery of the voltage detected by the battery voltage sensor from outside the range of the usual voltage to within the range of the usual voltage, is larger than a predetermined prescribed threshold (Gth), the gain setting unit setting the gain to immediately increase up to the gain target value (G*) when the set gain (Gr) at recovery is determined to be larger than the prescribed threshold (Gth), and setting the gain to gradually increase up to the gain target value (G*) when the set gain (Gr) at recovery is determined to be equal to or less than the prescribed threshold (Gth). a motor configured to receive electrical power from a battery and output an assist force for assisting steering with a steering wheel; a battery voltage sensor configured to detect a voltage of the battery; a target value setting unit configured to set a gain target value (G*), which is a target value of a gain used to control the assist force output by the motor, on a basis of the voltage detected by the battery voltage sensor; a gain setting unit configured to set the gain on a basis of the gain target value (G*) set by the target value setting unit; a torque sensor configured to detect a steering torque applied by the steering wheel; and a control unit configured to control the assist force output by the motor on a basis of the gain set by the gain setting unit and the steering torque detected by the torque sensor, characterized in that the target value setting unit sets the gain target value (G*) to a predetermined usual value when the voltage detected by the battery voltage sensor is within a predetermined range of usual voltage, and sets the gain target value (G*) to a value below the usual value when the voltage is outside the range of the usual voltage; and in that the gain setting unit determines whether or not a set gain (Gr) at recovery, which is the gain set by the gain setting unit at recovery of the voltage detected by the battery voltage sensor from outside the range of the usual voltage to within the range of the usual voltage, is larger than a predetermined prescribed threshold (Gth), the gain setting unit setting the gain to immediately increase up to the gain target value (G*) when the set gain (Gr) at recovery is determined to be larger than the prescribed threshold (Gth), and setting the gain to gradually increase up to the gain target value (G*) when the set gain (Gr) at recovery is determined to be equal to or less than the prescribed threshold (Gth).