To provide a steering device of a vehicle for giving a reaction force torque appropriate so as not to bring any discomfort, and also for facilitating driving of the vehicle.

A converter 41 calculates a spring element torque Tz. A converter 43 calculates a friction torque Mtdnw according to a steering angular speed dθ/dt. A converter 44 calculates a viscosity torque Mtd according to the speed dθ/dt. A converter 45 calculates a self alignment torque Msat based on an actual yaw rate γ. Then, a torque addition part 42 calculates a target reaction force torque Th by adding the torque Tz, the torque Mtdnw, the torque Mtd, and the torque Msat. At this time, the converter 43 cancels a predetermined number of pulse signals output from a steering angle sensor 31 to set the torque Mtdnw to be 0 regarding the speed dθ/dt as 0. Therefore, a rugged feeling accompanied by micro vibration of a steering wheel 11 can be solved to give the target reaction force torque Th which smoothly changes.