A vehicle steering apparatus 1 includes a variable gear ratio actuator 7, an IFS ECU 8, which controls the actuator 7, an EPS actuator 17, and an EPS ECU 18, which controls the EPS actuator 17. The variable gear ratio actuator 7 varies the transmission ratio between a steering wheel and steered wheels. The EPS actuator 17 applies an assist force that assists a steering operation. A microcomputer 43 of the EPS actuator 17 increases an inertia compensation current command Iti* (Iti**), which is a compensation component based on the differential value of a steering torque, during actuation of the variable gear ratio actuator 7, that is, when an ACT angle θta is changed.
