Vehicle steering comfort is an important issue for steering control of Advanced Driver Assistance Systems (ADAS), especially the shared steering control systems. However, it is difficult to be evaluated objectively that is usually evaluated subjectively by the driver. This paper aims to develop an objective evaluation method of vehicle steering comfort, which is mainly based on steering efficiency of driver estimated by electromyography (EMG). First, driver steering efficiency, as key factor reflecting driver's maneuver energetics and some neurological control behaviors, is calculated in two steering conditions based on EMG. In this process, the subjective evaluation of vehicle steering comfort is obtained simultaneously else by test driver. Unlike traditional steering efficiency calculated from steering gear, driver steering efficiency does not only partly present the energy consumption of driver itself but also the driver-vehicle interaction. And then the relation between the steering efficiency and subjective evaluation is analyzed based on both linear regression and spearman correlation analyzing. This challenge work investigates the interaction between the quantitative energy consumption and driver metal feeling and builds bridge between them. At last, an objective evaluation method of vehicle steering comfort using steering efficiency is proposed, which providing a selection with quantitative evaluation. The proposed method is helpful to improve steering control by giving a quantitative index.