This motor control device is provided with a control arithmetic unit, a compensation signal generating unit, an adder, and a drive unit. The control arithmetic unit generates a first torque command signal for driving a motor, by means of an arithmetic process based on a detected rotational position of the motor, and a position command. The compensation signal generating unit generates a torque compensation signal for compensation of the first torque command signal. The adder adds the torque compensation signal to the first torque command signal and outputs the result as a second torque command signal. The drive unit generates a drive signal for energizing and driving a motor winding, on the basis of the second torque command signal. Furthermore, the compensation signal generating unit generates a torque compensation signal which switches to a torque compensation value having a prescribed value with a switch timing based on the timing at which the direction of rotation of the motor reverses.