A mooring device for mooring of a floating unit to a structure, the structure being floating or non-floating, in use the mooring device being adapted to be mounted on the floating unit or the structure, the mooring device comprising: - a first mooring arm for transferring and/or absorbing forces and energy that arises when the floating unit is moored to the structure and the floating unit moves relative to the structure, the first mooring arm having a longitudinal axis, - a second mooring arm for transferring and/or absorbing forces and energy that arises when the floating unit is moored to the structure and the floating unit moves relative to the structure, the second mooring arm having a longitudinal axis, - a joint device comprising a support element, a support element joint device and an attachment unit joint device, the support element joint device being connected to the support element and the attachment unit joint device being attached to or connected to the support element, - an attachment unit that is attached to the attachment unit joint device, the attachment unit joint device allowing rotation of the attachment unit about two or three independent axes of rotation relative to the support element, wherein - the support element joint device comprises a first mooring arm joint device (44, 48, 58) connected to or attached to the support element and a second mooring arm joint device (45, 49, 59) connected to or attached to the support element, - the first mooring arm comprises a first end portion and a second end portion, the second end portion being adapted for attachment to the floating unit or the structure, and the first end portion being attached to the first mooring arm joint device (44, 48, 58), - the second mooring arm comprises a first end portion and a second end portion, the second end portion being adapted for attachment to the floating unit or the structure, and the first end portion being attached to the second mooring arm joint device (45, 49, 59), - the support element joint device in use allows rotation of the support element about one rotational axis A only, relative to the first mooring arm and/or the second mooring arm in all positions of the axis A, the rotational axis A being perpendicular to a plane that is formed by the longitudinal axis of the first mooring arm and the longitudinal axis of the second mooring arm in all positions of the first mooring arm and the second mooring arm. - a first mooring arm for transferring and/or absorbing forces and energy that arises when the floating unit is moored to the structure and the floating unit moves relative to the structure, the first mooring arm having a longitudinal axis, - a second mooring arm for transferring and/or absorbing forces and energy that arises when the floating unit is moored to the structure and the floating unit moves relative to the structure, the second mooring arm having a longitudinal axis, - a joint device comprising a support element, a support element joint device and an attachment unit joint device, the support element joint device being connected to the support element and the attachment unit joint device being attached to or connected to the support element, - an attachment unit that is attached to the attachment unit joint device, the attachment unit joint device allowing rotation of the attachment unit about two or three independent axes of rotation relative to the support element, wherein - the support element joint device comprises a first mooring arm joint device (44, 48, 58) connected to or attached to the support element and a second mooring arm joint device (45, 49, 59) connected to or attached to the support element, - the first mooring arm comprises a first end portion and a second end portion, the second end portion being adapted for attachment to the floating unit or the structure, and the first end portion being attached to the first mooring arm joint device (44, 48, 58), - the second mooring arm comprises a first end portion and a second end portion, the second end portion being adapted for attachment to the floating unit or the structure, and the first end portion being attached to the second mooring arm joint device (45, 49, 59), - the support element joint device in use allows rotation of the support element about one rotational axis A only, relative to the first mooring arm and/or the second mooring arm in all positions of the axis A, the rotational axis A being perpendicular to a plane that is formed by the longitudinal axis of the first mooring arm and the longitudinal axis of the second mooring arm in all positions of the first mooring arm and the second mooring arm.