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Quantum steering describes the ability of one observer to nonlocally affect the other observer's state through local measurements, which represents a new form of quantum nonlocal correlation and has potential applications in quantum information and quantum communication. In this paper, we propose a computable steering criterion that is applicable to bipartite quantum systems of arbitrary dimensions. The criterion can be used to verify a wide range of steerable states directly from a given density matrix without constructing measurement settings. Compared with the existing steering criteria, it is readily computable and testable in experiment, which can also be used to verify entanglement as all steerable quantum states are entangled.