A driving simulator steering device with gear rack limit and motor drive, which includes steering wheel, rotating shaft, first and second bearings, bearing sleeve, bearing sleeve fixing plate, first, second and third gears, motor, Steering gear frame front plate, bottom plate, left side plate, right side plate, rack, angle measuring sensor. The front plate, bottom plate, left side plate and right side plate of the steering gear frame constitute the main body of the steering gear frame, and the bearing sleeve, the bearing sleeve fixing plate and the first and second bearings are used to install the rotating shaft, and the rotating shaft is sequentially sleeved with Steering wheel, first and third gears, the angle measurement sensor is arranged at the end of the rotating shaft, the second gear is installed at the front output shaft end of the motor and meshes with the first gear, and the rack is arranged below the third gear and meshes with the third gear . The third gear and the rack realize limit, the motor realizes vibration and return to alignment, and the angle measurement sensor is used for angle measurement. Angle measurement sensor can choose Hall angle sensor, potentiometer, photoelectric encoder and so on.