To provide a hollow rack shaft and a manufacturing method thereof capable of easily and continuously forming rack teeth.

A steel strip 1 is continuously fed, rack teeth 1a are intermittently formed substantially in the center part in the width direction of the steel strip 1 by the plastic working with predetermined intervals, a part other than the rack teeth 1a is bent into a tubular shape, and cut by the predetermined length in the axial direction to manufacture the hollow rack shaft 11. Thus, the rack teeth 1a of the hollow rack shaft 11 can be easily formed. The hollow rack shaft 11 with the rack teeth 1a formed thereon can be continuously manufactured from the steel strip 1, and the productivity can be improved.