Steelman did not seek re-election in 1984, returning to the practice of law in his native Rolla, Missouri.
Steelman worked as an Assistant Attorney General under former House colleague William L. Webster until Webster vacated the Attorney General's office to run unsuccessfully for governor in 1992, and Steelman ran to succeed him.
Steelman won the Republican primary but lost the general election to Jay Nixon, 51% to 45%.
In 2021, governor Mike Parson demanded his resignation following concerns Steelman raised on conflict of interest activities by lobbyist Steven Tilley.
[1] As an attorney, Steelman has represented Tritium International Consulting in a case of unregulated gaming machines,[2] and house speaker Dean Plocher in an ethics investigation.