A motor control device including: a power supply voltage detection unit configured to detect a power supply voltage; a rotational angular velocity detection unit configured to detect a rotational angular velocity of the motor; a command value calculation unit configured to calculate a q-axis and d-axis current command values; a gain computation unit configured to compute, based on an upper limit value of power supply current supplied from a power supply to the motor, the power supply voltage, the rotational angular velocity, the q-axis current command value, and the d-axis current command value, a limit gain reducing the power supply current to the upper limit value or lower by limiting the q-axis current command value and the d-axis current command value; and a driving circuit configured to drive the motor, based on the q-axis current command value and the d-axis current command value limited by the limit gain.