In a motor-driven power steering apparatus which converts a rotation of an electric motor into a linear stroke of a rack shaft by a power transmission mechanism, and steers a wheel coupled to the rack shaft, there is provided an automatic neutral restoring means for judging a vehicle stop and a manual steering rest, and rotating the electric motor as to restore a detected steering angle of a steering angle sensor to a neutral position so as to execute an automatic steering, when the steering angle is out of the neutral position.