A torque transmission joint comprising: an intermediate transmission member; and a pair of end section transmission members (17, 18), wherein the intermediate transmission member has an intermediate concave-convex section in which concave sections and convex sections are alternately arranged on a circumferential surface on one side in a radial direction; the pair of end section transmission members (17, 18) is arranged in an axial direction of the intermediate transmission member, and each of the pair of end section transmission members (17, 18) includes an end section side concave-convex section (22, 26) in which concave sections (23, 27) and convex sections (24, 28) are alternately arranged on a circumferential surface on another side in the radial direction, and a preliminary engagement section (63, 66) provided at an end section in the axial direction of a side where the pair of end section transmission members (17, 18) are close to each other, the preliminary engagement sections (63, 66) of the pair of end section transmission members (17, 18) engage with each other in a state with circumferential gaps interposed therebetween; and the pair of end section transmission members (17, 18) is arranged in the axial direction on the one side in the radial direction of the intermediate transmission member; characterized in that the convex sections (24, 28) of the end section side concave-convex sections (22, 26) engage with the concave sections of the intermediate concave-convex section in a state where the end section side concave-convex sections (22, 26) of the pair of end section transmission members (17, 18) are separated from each other in the axial direction. an intermediate transmission member; and a pair of end section transmission members (17, 18), wherein the intermediate transmission member has an intermediate concave-convex section in which concave sections and convex sections are alternately arranged on a circumferential surface on one side in a radial direction; the pair of end section transmission members (17, 18) is arranged in an axial direction of the intermediate transmission member, and each of the pair of end section transmission members (17, 18) includes an end section side concave-convex section (22, 26) in which concave sections (23, 27) and convex sections (24, 28) are alternately arranged on a circumferential surface on another side in the radial direction, and a preliminary engagement section (63, 66) provided at an end section in the axial direction of a side where the pair of end section transmission members (17, 18) are close to each other, the preliminary engagement sections (63, 66) of the pair of end section transmission members (17, 18) engage with each other in a state with circumferential gaps interposed therebetween; and the pair of end section transmission members (17, 18) is arranged in the axial direction on the one side in the radial direction of the intermediate transmission member; characterized in that the convex sections (24, 28) of the end section side concave-convex sections (22, 26) engage with the concave sections of the intermediate concave-convex section in a state where the end section side concave-convex sections (22, 26) of the pair of end section transmission members (17, 18) are separated from each other in the axial direction.