A steering system, comprising: a steering operation shaft having rack teeth and configured to turn a steered wheel (14R, 14L) of a vehicle by moving in an axial direction of the steering operation shaft; a pinion shaft having pinion teeth at its one end, the pinion teeth meshing with the rack teeth; an input shaft configured to rotate in response to a steering operation of a steering wheel; a torsion shaft that couples the input shaft and the pinion shaft together and is twisted by a steering torque of the steering wheel; a fixing pin that fixes one end of the torsion shaft to the input shaft so that the torsion shaft is not rotatable relative to the input shaft; a housing having a first housing portion that houses the pinion shaft together with parts of the input shaft and the torsion shaft, and a second housing portion that houses the steering operation shaft; and a cover member having a cylindrical portion externally fitted to the input shaft protruding from the first housing portion, and a disc portion that covers an open end face of the first housing portion, wherein the torsion shaft is fixed to the input shaft so as not to be rotatable relative to the input shaft by fitting the one end of the torsion shaft to a fitting hole formed in the input shaft and inserting the fixing pin into a through hole (21a, 23a) formed in each of the input shaft and the torsion shaft, the through hole of the input shaft is open in an outer peripheral surface covered with the cylindrical portion of the cover member, a plurality of annular lips (711 to 715) are provided on an inner peripheral surface of the cylindrical portion of the cover member, the plurality of annular lips (711 to 715) extending in a circumferential direction while ridges of the annular lips are brought into elastic contact with the outer peripheral surface of the input shaft, and the plurality of annular lips (711 to 715) are provided, except for a portion that faces each of openings of the through hole of the input shaft, on one side and the other side in an axial direction of the input shaft with respect to the portion that faces each of the openings of the through hole of the input shaft, characterized in that a lip-less area where no annular lip is provided is formed between the annular lip provided on the one side in the axial direction of the input shaft with respect to the portion that faces each of the openings of the through hole of the input shaft and the annular lip provided on the other side in the axial direction of the input shaft with respect to the portion that faces each of the openings of the through hole of the input shaft, and in the lip-less area, a clearance is formed between the inner peripheral surface of the cylindrical portion of the cover member and the outer peripheral surface of the input shaft. a steering operation shaft having rack teeth and configured to turn a steered wheel (14R, 14L) of a vehicle by moving in an axial direction of the steering operation shaft; a pinion shaft having pinion teeth at its one end, the pinion teeth meshing with the rack teeth; an input shaft configured to rotate in response to a steering operation of a steering wheel; a torsion shaft that couples the input shaft and the pinion shaft together and is twisted by a steering torque of the steering wheel; a fixing pin that fixes one end of the torsion shaft to the input shaft so that the torsion shaft is not rotatable relative to the input shaft; a housing having a first housing portion that houses the pinion shaft together with parts of the input shaft and the torsion shaft, and a second housing portion that houses the steering operation shaft; and a cover member having a cylindrical portion externally fitted to the input shaft protruding from the first housing portion, and a disc portion that covers an open end face of the first housing portion, wherein the torsion shaft is fixed to the input shaft so as not to be rotatable relative to the input shaft by fitting the one end of the torsion shaft to a fitting hole formed in the input shaft and inserting the fixing pin into a through hole (21a, 23a) formed in each of the input shaft and the torsion shaft, the through hole of the input shaft is open in an outer peripheral surface covered with the cylindrical portion of the cover member, a plurality of annular lips (711 to 715) are provided on an inner peripheral surface of the cylindrical portion of the cover member, the plurality of annular lips (711 to 715) extending in a circumferential direction while ridges of the annular lips are brought into elastic contact with the outer peripheral surface of the input shaft, and the plurality of annular lips (711 to 715) are provided, except for a portion that faces each of openings of the through hole of the input shaft, on one side and the other side in an axial direction of the input shaft with respect to the portion that faces each of the openings of the through hole of the input shaft, characterized in that a lip-less area where no annular lip is provided is formed between the annular lip provided on the one side in the axial direction of the input shaft with respect to the portion that faces each of the openings of the through hole of the input shaft and the annular lip provided on the other side in the axial direction of the input shaft with respect to the portion that faces each of the openings of the through hole of the input shaft, and in the lip-less area, a clearance is formed between the inner peripheral surface of the cylindrical portion of the cover member and the outer peripheral surface of the input shaft.