A steering device , comprising: a steering member ; a steering operation mechanism mechanically separated from the steering member ; a reactive force motor configured to impart reactive force torque to the steering member ; a steering motor configured to drive the steering operation mechanism ; a steering torque sensor configured to detect steering torque (T d ) imparted to the steering member ; and an electronic control unit, wherein the electronic control unit is configured to set a manual steering angle command value (θ md ) based on the steering torque, the electronic control unit is configured to compute a reactive-force-related composite angle command value (θ rcmd ) based on a reactive-force-related automatic steering angle command value (θ rf ) and the manual steering angle command value, the electronic control unit is configured to compute a steering-related composite angle command value based on a steering-related automatic steering angle command value (θ ad ) and the manual steering angle command value, the electronic control unit is configured to cause a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value (θ rcmd ), and the electronic control unit is configured to cause a rotational angle of the steering motor to follow the steering-related composite angle command value (θ scmd ), characterized in that the electronic control unit is configured to estimate first disturbance torque (T std ), the first disturbance torque being disturbance torque other than motor torque of the steering motor acting on an object of driving by the steering motor and the electronic control unit is configured to compute a first basic command value (T scmda ) based on the steering-related composite angle command value (θ scmd ), and is configured to compensate the first basic command value by the first disturbance torque. a steering member ; a steering operation mechanism mechanically separated from the steering member ; a reactive force motor configured to impart reactive force torque to the steering member ; a steering motor configured to drive the steering operation mechanism ; a steering torque sensor configured to detect steering torque (T d ) imparted to the steering member ; and an electronic control unit, wherein the electronic control unit is configured to set a manual steering angle command value (θ md ) based on the steering torque, the electronic control unit is configured to compute a reactive-force-related composite angle command value (θ rcmd ) based on a reactive-force-related automatic steering angle command value (θ rf ) and the manual steering angle command value, the electronic control unit is configured to compute a steering-related composite angle command value based on a steering-related automatic steering angle command value (θ ad ) and the manual steering angle command value, the electronic control unit is configured to cause a rotational angle of the reactive force motor to follow the reactive-force-related composite angle command value (θ rcmd ), and the electronic control unit is configured to cause a rotational angle of the steering motor to follow the steering-related composite angle command value (θ scmd ), characterized in that the electronic control unit is configured to estimate first disturbance torque (T std ), the first disturbance torque being disturbance torque other than motor torque of the steering motor acting on an object of driving by the steering motor and the electronic control unit is configured to compute a first basic command value (T scmda ) based on the steering-related composite angle command value (θ scmd ), and is configured to compensate the first basic command value by the first disturbance torque. <EOS>