A vehicle steering apparatus includes a drive unit for changing a steering angle of a steered wheel. A calculation unit calculates a control target amount of the steering angle based on a vehicle model. A control unit controls the drive unit to change the steering angle based on the control target amount. A determination unit determines whether the absolute value of at least one of yaw rate of the vehicle and lateral acceleration of the vehicle is greater than or equal to a predetermined value when velocity of the vehicle is less than or equal to a predetermined velocity. The control unit refrains from executing the control based on the control target amount when the absolute value is not greater than or equal to the predetermined value.