Exemplary embodiments relate to a fail-safe control and a control method for an electric power steering system and a steering system. The fail-safe control apparatus of the electric power steering system may include a first sensing unit configured to sense motor position information, which is rotor position information of a motor that supplies an auxiliary steering force for a vehicle, and motor direction information, which is rotation direction information of the motor, a second sensing unit configured to sense steering torque information or steering angle information of the vehicle, a failure determination unit configured to compute a difference for the motor position information, estimate a direction value of the motor direction information, and perform computation between the motor position information and the steering torque information or the steering angle information to determine whether a failure has occurred, and a steering control unit configured to reduce or block an electric current output of the motor according to a result of the determination.