A vehicle steering control method having a steering wheel, a clutch through which the steering wheel and turnable wheels (5, 6) are able to be mechanically disconnected and connected, a steering actuator that imparts torque to the steering wheel, a turning actuator (13, 14) that causes the turnable wheels (5, 6) to turn, and a torque sensor that detects a transmitted torque in a torque transmission system between the steering wheel and the turnable wheels (5, 6), the method comprising: a steer-by-wire mode in which the clutch is disengaged and a steering angle of the steering wheel and a turning angle of the turnable wheels (5, 6) are controlled based on a turning angle command, and an assisted-control mode in which the clutch is engaged and an assist torque that corresponds to a detected torque from the torque sensor is imparted to the turnable wheels (5, 6); and characterized in that: when transitioning from the steer-by-wire mode under an autonomous driving mode to the assisted-control mode under a manual driving mode, the assist torque is limited to a value that corresponds to the detected torque from when the clutch is engaged until a prescribed limitation period has passed, the limitation period being a duration that corresponds to a difference in angular velocity between a steering angle velocity and a turning angle velocity, the steering angle velocity being angular velocity on a steering wheel side of the clutch, and the turning angle velocity being angular velocity on a turnable wheels side of the clutch. a steering wheel, a clutch through which the steering wheel and turnable wheels (5, 6) are able to be mechanically disconnected and connected, a steering actuator that imparts torque to the steering wheel, a turning actuator (13, 14) that causes the turnable wheels (5, 6) to turn, and a torque sensor that detects a transmitted torque in a torque transmission system between the steering wheel and the turnable wheels (5, 6), the method comprising: a steer-by-wire mode in which the clutch is disengaged and a steering angle of the steering wheel and a turning angle of the turnable wheels (5, 6) are controlled based on a turning angle command, and an assisted-control mode in which the clutch is engaged and an assist torque that corresponds to a detected torque from the torque sensor is imparted to the turnable wheels (5, 6); and a steer-by-wire mode in which the clutch is disengaged and a steering angle of the steering wheel and a turning angle of the turnable wheels (5, 6) are controlled based on a turning angle command, and an assisted-control mode in which the clutch is engaged and an assist torque that corresponds to a detected torque from the torque sensor is imparted to the turnable wheels (5, 6); and characterized in that: when transitioning from the steer-by-wire mode under an autonomous driving mode to the assisted-control mode under a manual driving mode, the assist torque is limited to a value that corresponds to the detected torque from when the clutch is engaged until a prescribed limitation period has passed, the limitation period being a duration that corresponds to a difference in angular velocity between a steering angle velocity and a turning angle velocity, the steering angle velocity being angular velocity on a steering wheel side of the clutch, and the turning angle velocity being angular velocity on a turnable wheels side of the clutch.