A motor output control apparatus includes: an output detector configured to comprise a first detector for detecting a first output signal generated from a first winding of a motor and a second detector for detecting a second output signal generated from a second winding of the motor; a failure determiner configured to determine whether the first winding or the second winding has a failure based on at least one of the first output signal and the second output signal and based on an input-steering torque; and an output controller configured to determine whether or not an output-calculation value corresponding to the input-steering torque is less than a threshold value if it is determined that the first winding or the second winding has a failure, and configured to control an output of the normal one of the first winding or the second winding according to the determination result.