A steering control device for a steering system including a housing, a turning shaft which is accommodated in the housing such that the turning shaft is able to reciprocate, 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, wherein the electronic control unit is configured to: detect an absolute steering angle which is a rotation angle of a rotation shaft which is able to be converted into a turning angle of turning wheels connected to the turning shaft and which is expressed as an absolute angle including a range exceeding 360°; calculate a current command value corresponding to a target value of the motor torque which is output from the motor; control activation of the motor such that an actual current value which is supplied to the motor reaches the current command value; store an end-position-corresponding angle which is an angle indicating an end position at which movement of the turning shaft is limited due to end contact in which the turning shaft comes into contact with the housing and which is correlated with the absolute steering angle; perform end contact relaxation control for correcting the current command value such that a decrease of an end separation angle indicating a distance of the absolute steering angle from the end-position-corresponding angle is limited when the end separation angle is equal to or less than a predetermined angle; the electronic control unit characterised by being configured to make a determination as to whether a vehicle is intended to travel while turning at the time of execution of end contact relaxation control, and when the vehicle is, based on the determination, intended to travel while turning at the time of execution of end contact relaxation control, perform partial release control for decreasing a correction value of the current command value due to execution of the end contact relaxation control based on a steering torque which is input to the steering system. detect an absolute steering angle which is a rotation angle of a rotation shaft which is able to be converted into a turning angle of turning wheels connected to the turning shaft and which is expressed as an absolute angle including a range exceeding 360°; calculate a current command value corresponding to a target value of the motor torque which is output from the motor; control activation of the motor such that an actual current value which is supplied to the motor reaches the current command value; store an end-position-corresponding angle which is an angle indicating an end position at which movement of the turning shaft is limited due to end contact in which the turning shaft comes into contact with the housing and which is correlated with the absolute steering angle; perform end contact relaxation control for correcting the current command value such that a decrease of an end separation angle indicating a distance of the absolute steering angle from the end-position-corresponding angle is limited when the end separation angle is equal to or less than a predetermined angle; the electronic control unit characterised by being configured to make a determination as to whether a vehicle is intended to travel while turning at the time of execution of end contact relaxation control, and when the vehicle is, based on the determination, intended to travel while turning at the time of execution of end contact relaxation control, perform partial release control for decreasing a correction value of the current command value due to execution of the end contact relaxation control based on a steering torque which is input to the steering system.