A steering control device that controls a steering device in which a steering portion and a steered portion, which steers steered wheels in accordance with a steering operation input to the steering portion, are mechanically separated from, or mechanically engageable with and disengageable from, each other, the steering control device comprising: a control circuit that controls operation of a steering-side motor that applies a steering reaction force that resists the steering operation which is input to the steering portion, wherein: the control circuit includes a torque command value computation circuit that computes a torque command value (Th*) corresponding to a target value for steering torque (Th) that is to be input by a driver for drive torque (Tc) input to the steering device, a torque feedback control circuit that computes an input torque fundamental component (Tb*) on the basis of execution of torque feedback control for causing the steering torque to follow the torque command value (Th*), and a target steering angle computation circuit that computes a target steering angle(θh*), which is a target value for a steering angle (θh) of a steering wheel coupled to the steering portion, on the basis of the input torque fundamental component (Tb*); and the control circuit computes target reaction force torque(Ts*), which is a target value for the steering reaction force, on the basis of execution of angle feedback control for causing the steering angle to follow the target steering angle. the control circuit includes a torque command value computation circuit that computes a torque command value (Th*) corresponding to a target value for steering torque (Th) that is to be input by a driver for drive torque (Tc) input to the steering device, a torque feedback control circuit that computes an input torque fundamental component (Tb*) on the basis of execution of torque feedback control for causing the steering torque to follow the torque command value (Th*), and a target steering angle computation circuit that computes a target steering angle(θh*), which is a target value for a steering angle (θh) of a steering wheel coupled to the steering portion, on the basis of the input torque fundamental component (Tb*); and a torque command value computation circuit that computes a torque command value (Th*) corresponding to a target value for steering torque (Th) that is to be input by a driver for drive torque (Tc) input to the steering device, a torque feedback control circuit that computes an input torque fundamental component (Tb*) on the basis of execution of torque feedback control for causing the steering torque to follow the torque command value (Th*), and a target steering angle computation circuit that computes a target steering angle(θh*), which is a target value for a steering angle (θh) of a steering wheel coupled to the steering portion, on the basis of the input torque fundamental component (Tb*); and the control circuit computes target reaction force torque(Ts*), which is a target value for the steering reaction force, on the basis of execution of angle feedback control for causing the steering angle to follow the target steering angle.