Asteroid 162173 (Ryugu) is a carbonaceous asteroid that was visited by Japan’s Hayabusa2 spacecraft in 2018. The formation mechanism of spinning-top shape of Ryugu is an essential clue to the dynamical history of the near-Earth asteroid. In this study, we address the spin-state evolution of Ryugu induced by the Yarkovsky–O’Keefe–Radzievskii–Paddack (YORP) effect, i.e., the thermal recoil torque that changes the rotation period and spin-pole direction. Given the current orbit, spin state, and three-dimensional shape observed by Hayabusa2, we computed the YORP torque exerted on Ryugu using a simplified thermal model approximating zero thermal conductivity. Despite differences in meter-scaled topography, all 20 shape models that we examined indicate that the spin velocity of Ryugu is currently decreasing at a rate of (-0.42—6.3)*10-6 deg/day2. Our findings also suggest that the thermal torque on the asteroid is responsible for maintaining the spin pole upright with respect to the orbital plane. Therefore, the YORP effect could explain the significant spin-down from a period of 3.5 h initially to 7.6 h currently. The corresponding time scale of the rotational deceleration is estimated to be 0.58–8.7 million years, depending on the input shape models. This time scale is comparable to e.g., the formation period of the largest crater, Urashima (5–12 Ma) or the western bulge (2–9 Ma) as derived from previous studies on crater statistics in Ryugu. It is considered that the rotation of the asteroid started to decelerate in the wake of the major crater formation or the resurfacing event on the western hemisphere.