A motor control device that performs drive control on an electric motor for steering angle control, the motor control device comprising: a manual steering command value generation unit that generates a manual steering command value (θ mdac) being an angle value, using steering torque; an integrated angle command value computation unit that computes an integrated angle command value (θ acmd) by adding the manual steering command value (θ mdac) to an automatic steering command value (θ adac) being an angle value; and a control unit that performs angle control on the electric motor on the basis of the integrated angle command value (θ acmd), wherein the control unit includes a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value (θ acmd), characterized in that the control unit further includes a disturbance torque estimation unit, as a disturbance observer, that estimates disturbance torque (T̂ lc) other than motor torque that is generated by the electric motor and acts on an object (9, 21) to be driven by the electric motor, and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque, wherein the basic torque command value is a basis for a motor torque command value (T m). a manual steering command value generation unit that generates a manual steering command value (θ mdac) being an angle value, using steering torque; an integrated angle command value computation unit that computes an integrated angle command value (θ acmd) by adding the manual steering command value (θ mdac) to an automatic steering command value (θ adac) being an angle value; and a control unit that performs angle control on the electric motor on the basis of the integrated angle command value (θ acmd), wherein the control unit includes a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value (θ acmd), characterized in that the control unit further includes a disturbance torque estimation unit, as a disturbance observer, that estimates disturbance torque (T̂ lc) other than motor torque that is generated by the electric motor and acts on an object (9, 21) to be driven by the electric motor, and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque, wherein the basic torque command value is a basis for a motor torque command value (T m). a basic torque command value computation unit that computes a basic torque command value on the basis of the integrated angle command value (θ acmd), characterized in that the control unit further includes a disturbance torque estimation unit, as a disturbance observer, that estimates disturbance torque (T̂ lc) other than motor torque that is generated by the electric motor and acts on an object (9, 21) to be driven by the electric motor, and a disturbance torque compensation unit that corrects the basic torque command value in accordance with the disturbance torque, wherein the basic torque command value is a basis for a motor torque command value (T m).