Steering device for vehicle

A steering wheel and a steering gear box are connected to each other via a steering shaft, a first universal joint, an intermediate shaft, a second universal joint and a pinion shaft. A steering column is fixed to a vehicle body via a telescopic mechanism to be adjustable in a forward/rearward position. When the steering shaft moves forward, the telescopic mechanism guides it so that its front end moves downward. Therefore, even when the steering shaft moves forward, an angle θ at which the intermediate shaft inclines downward forward with respect to the steering shaft, and an angle θ at which the pinion shaft inclines downward forward with respect to the intermediate shaft substantially coincide with each other, thereby securing constant velocity of the steering shaft and the pinion shaft.