To provide a rack and pinion type steering device capable of always stably restraining the generation of a rattle sound by absorbing a change with time of the backlash of a rack and a pinion.

A rack and pinion type steering device 1 is a device converting the rotational displacement of a steering shaft 5 into the linear displacement of a rack shaft 19 and a tie rod 26 by a pinion 18 and a rack 20, and energizes the rack 20 to the pinion 18 side by transmitting an energizing force of a spring (an energizing means) 23 to the rack shaft 19 via a support yoke. The rack and pinion type steering device includes a controller (a control means ) 9 for changing the energizing force of the spring 23 by controlling a solenoid (an actuator ) 24 according to a detected frequency by detecting the frequency of the tie rod 26 by an acceleration sensor 28, and controls the solenoid 24 in a feedback control so that the backlash of the pinion 18 and the rack 20 approaches a discrimination value by the controller 9.