In a steering apparatus, in accordance with a grip limit control process (30b'), it is determined whether or not a grip degree .epsilon. estimated by a grip degree estimation arithmetically operating process (30a) is less than a predetermined grip degree (.epsilon.'), and in the case that it is determined that an estimated grip degree (.epsilon.) is less than the predetermined grip degree (.epsilon.'), the process applies such a feeling that a steering operation by a steering wheel suddenly becomes light to a driver, by suddenly increasing an assist quantity by a motor (M), thereby notifying the driver of the matter that the grip degree of a steered wheel is close to a limit. Therefore, it is possible to transmit to the driver a probability that a side slip is generated by further turning the steering wheel 21 in the same direction as the current direction, thereby calling the driver's attention for steering. Accordingly, there is an effect that a stability of a vehicle behavior can be improved without applying any fear of insecurity to the driver.