An incremental magnetic encoder (10; 110) defining an encoder axis and comprising a fixed body and a movable body movable with respect to the fixed body along at least a first direction of encoding corresponding to a translation along the encoder axis according to a predetermined translation travel length, the movable body being movable with respect to the fixed body further in a second direction of encoding perpendicular to the first direction of encoding and corresponding to rotation about the encoder axis; one of the bodies, called first body (21; 121), comprising: - a first ring (51; 151) extending along a first longitudinal direction coinciding with the encoder axis and a first circumferential direction perpendicular to the first longitudinal direction, the first longitudinal direction corresponding to the first direction of encoding, the first ring (51; 151) defining a magnetic alternation along the first direction of encoding; - a second ring (52; 152) extending along a second longitudinal direction coinciding with the encoder axis and a second circumferential direction perpendicular to the second longitudinal direction, the second circumferential direction corresponding to the second direction of encoding, the second ring (52; 152) defining a magnetic alternation along the second direction of encoding; the other body, called second body (22; 122), comprising: - at least one first notching tooth (71; 171) made of ferromagnetic or magnetic material arranged opposite the first ring (51; 151) so as to create a notching during a movement of the movable body (21; 121) along the first direction of encoding; - a first pair of magnetic detectors (61; 161) arranged opposite the first ring (51; 151) and configured for quantifying each movement of the movable body along the first direction of encoding; - at least one second notching tooth (72; 172) made of ferromagnetic or magnetic material arranged opposite the second ring (52; 152) so as to create a notching during a movement of the movable body along the second direction of encoding; and - a second pair of magnetic detectors (62; 162) arranged opposite the second ring (52; 152) and configured for quantifying each movement of the movable body along the second direction of encoding. one of the bodies, called first body (21; 121), comprising: - a first ring (51; 151) extending along a first longitudinal direction coinciding with the encoder axis and a first circumferential direction perpendicular to the first longitudinal direction, the first longitudinal direction corresponding to the first direction of encoding, the first ring (51; 151) defining a magnetic alternation along the first direction of encoding; - a second ring (52; 152) extending along a second longitudinal direction coinciding with the encoder axis and a second circumferential direction perpendicular to the second longitudinal direction, the second circumferential direction corresponding to the second direction of encoding, the second ring (52; 152) defining a magnetic alternation along the second direction of encoding; - a first ring (51; 151) extending along a first longitudinal direction coinciding with the encoder axis and a first circumferential direction perpendicular to the first longitudinal direction, the first longitudinal direction corresponding to the first direction of encoding, the first ring (51; 151) defining a magnetic alternation along the first direction of encoding; - a second ring (52; 152) extending along a second longitudinal direction coinciding with the encoder axis and a second circumferential direction perpendicular to the second longitudinal direction, the second circumferential direction corresponding to the second direction of encoding, the second ring (52; 152) defining a magnetic alternation along the second direction of encoding; the other body, called second body (22; 122), comprising: - at least one first notching tooth (71; 171) made of ferromagnetic or magnetic material arranged opposite the first ring (51; 151) so as to create a notching during a movement of the movable body (21; 121) along the first direction of encoding; - a first pair of magnetic detectors (61; 161) arranged opposite the first ring (51; 151) and configured for quantifying each movement of the movable body along the first direction of encoding; - at least one second notching tooth (72; 172) made of ferromagnetic or magnetic material arranged opposite the second ring (52; 152) so as to create a notching during a movement of the movable body along the second direction of encoding; and - a second pair of magnetic detectors (62; 162) arranged opposite the second ring (52; 152) and configured for quantifying each movement of the movable body along the second direction of encoding. - at least one first notching tooth (71; 171) made of ferromagnetic or magnetic material arranged opposite the first ring (51; 151) so as to create a notching during a movement of the movable body (21; 121) along the first direction of encoding; - a first pair of magnetic detectors (61; 161) arranged opposite the first ring (51; 151) and configured for quantifying each movement of the movable body along the first direction of encoding; - at least one second notching tooth (72; 172) made of ferromagnetic or magnetic material arranged opposite the second ring (52; 152) so as to create a notching during a movement of the movable body along the second direction of encoding; and - a second pair of magnetic detectors (62; 162) arranged opposite the second ring (52; 152) and configured for quantifying each movement of the movable body along the second direction of encoding.