A device for connecting a wheel to a vehicle, comprising: - a support element which can be fixed to a frame of the vehicle and comprises a guard cover, wherein the guard cover comprises two substantially flat covers, including a front cover and a rear cover which is directly fixed to the front guard cover, - an input shaft able to be kinematically connected to an engine of the vehicle and having a rotation axis, wherein the input shaft is rotatably coupled and supported by the support element, - an oscillating support suitable for being hinged to a frame of the vehicle on a predetermined hinge axis parallel to and distanced from the rotation axis of the input shaft, wherein the oscillating support is directly hinged to the support element, - an auxiliary shaft rotatably associated to the oscillating support in a position coaxial to the hinge axis, wherein the auxiliary shaft is coaxially housed in a tubular sleeve fixed to the oscillating support and rotatably inserted into a tubular element having a flange fixed to the front cover of the guard cover, - a wheel-bearing hub rotatably associated to the oscillating support along a rotation axis parallel to and distanced from the hinge axis, wherein the distance between the rotation axis of the input shaft and the hinge axis is substantially equal to the distance between the hinge axis and the rotation axis of the wheel-bearing hub, and wherein the oscillating frame is orientated in such a way that the rotation axis of the wheel-bearing hub is able to oscillate along a trajectory that substantially passes through the rotation axis of the input shaft, - first transmission means suitable for transmitting motion from the input shaft to the auxiliary shaft, - second transmission means suitable for transmitting motion from the auxiliary shaft to the wheel-bearing hub, - actuator means able to rotate the oscillating support about the hinge axis thereof, wherein the actuator means comprise a double-acting hydraulic cylinder having an end, which is hinged to a support member solidly fixed to the rear cover, and an opposite end, which is hinged to a projecting flange element solidly fixed to the oscillating support. - a support element which can be fixed to a frame of the vehicle and comprises a guard cover, wherein the guard cover comprises two substantially flat covers, including a front cover and a rear cover which is directly fixed to the front guard cover, - an input shaft able to be kinematically connected to an engine of the vehicle and having a rotation axis, wherein the input shaft is rotatably coupled and supported by the support element, - an oscillating support suitable for being hinged to a frame of the vehicle on a predetermined hinge axis parallel to and distanced from the rotation axis of the input shaft, wherein the oscillating support is directly hinged to the support element, - an auxiliary shaft rotatably associated to the oscillating support in a position coaxial to the hinge axis, wherein the auxiliary shaft is coaxially housed in a tubular sleeve fixed to the oscillating support and rotatably inserted into a tubular element having a flange fixed to the front cover of the guard cover, - a wheel-bearing hub rotatably associated to the oscillating support along a rotation axis parallel to and distanced from the hinge axis, wherein the distance between the rotation axis of the input shaft and the hinge axis is substantially equal to the distance between the hinge axis and the rotation axis of the wheel-bearing hub, and wherein the oscillating frame is orientated in such a way that the rotation axis of the wheel-bearing hub is able to oscillate along a trajectory that substantially passes through the rotation axis of the input shaft, - first transmission means suitable for transmitting motion from the input shaft to the auxiliary shaft, - second transmission means suitable for transmitting motion from the auxiliary shaft to the wheel-bearing hub, - actuator means able to rotate the oscillating support about the hinge axis thereof, wherein the actuator means comprise a double-acting hydraulic cylinder having an end, which is hinged to a support member solidly fixed to the rear cover, and an opposite end, which is hinged to a projecting flange element solidly fixed to the oscillating support.