Motor control device and vehicle brake hydraulic pressure control apparatus

A motor control device (a motor driver 200) for controlling, by a duty control, a current supplied to a motor 9 includes a driving controller 220, an off controller 230, and a voltage acquiring section (an A/D conversion processor 210, a sampling section 240). The driving controller 220 performs on/off control of the current supplied to the motor 9 with a first period. The off controller 230 performs off control for the motor 9 with a second period separately from the on/off control performed by the driving controller 220. The second period is longer than the first period. The voltage acquiring section acquires a voltage between terminals of the motor during a time period in which the off control is performed by the off controller.