In the last few years, several criteria to identify Einstein-Podolsky-Rosen steering have been proposed and experimentally implemented. On the operational side, however, the evaluation of the steerability degree of a given state has shown to be a difficult task and only a few results are known. In this work, we propose a measure of steering that is based on the maximal violation of well-established steering inequalities. Applying this approach to two-qubit states, we managed to derive simple closed formulas for steering in the two- and three-measurement scenarios. We also provide closed formulas for quantifiers of Bell nonlocality in the respective scenarios. Finally, we show that our measures of steering verify the entanglement-steering-nonlocality hierarchy and reproduce results reported so far.