To lessen the number of part items to reduce a cost, and also miniaturize a universal joint to install it even in a narrow space.

In this universal joint, the end part outer peripheral surface of a first shank 1 is adopted to be a spherical surface part 1a, and it is inserted into a yoke 3 provided on the tip part of a second shank 2. The yoke 3 is equipped with a pair of arm parts 3a and 3b, oppositely arranged to the spherical surface part 1a, at the positions 180° apart with each other in a peripheral direction; and is formed of circular arc state ball grooves 4, extending in the circular arc state toward an axial direction, on the surfaces opposite to the spherical surface part 1a of the arm parts 3a and 3b respectively to conform the circular arc center of the grooves 4 to the center of the spherical surface part 1a. Torque transmission spheres 5 are interposed between the grooves 4 and the spherical surface part 1a, and the portions of the spheres 5 facing the grooves 4 are movably inserted into the grooves 4. Portions facing the spherical surface part 1a of the spheres 5 are rotatably inserted into the sperical surface recesses 6 formed on the spherical surface part 1a.