Device for connecting a steering column to a steering gear housing, with the device comprising: a shaft defining an axis of insertion and a direction of insertion, having an end portion and a clamping portion situated to the rear of the end portion in the direction of insertion, a clamping collar comprising two arms (10, 11) arranged relative to one another in such a way as to delimit a cavity able to guide the shaft according to the axis of insertion in the direction of insertion into a position of engagement and to keep the shaft in position of engagement, with each arm (10, 11) comprising a hole (14, 15), and a clamping screw for clamping the arms (10, 11) onto the shaft in the position of engagement according to a set torque, the holes (14, 15) of each arm being aligned with one another in order to define with the clamping portion an axis of passage for the clamping screw perpendicular to the axis of insertion, the cavity comprising a coupling zone and an entry zone situated to the rear of the coupling zone in the direction of insertion, the entry zone being dimensioned in relation to the coupling zone in such a way as to prevent the clamping of the clamping screw according to the set torque when the end portion is situated in the entry zone, the coupling zone having lateral walls (40, 41), an upper wall for connecting the lateral walls (40, 41) in the shape of an arc of a circle corresponding to the shape of the upper surface of the end portion of the shaft, the entry zone has a section greater than that of the coupling zone, characterised in that the coupling zone and the entry zone have, in the lower portion, one or several bearing surfaces (101, 111) for the shaft, and in that the bearing surfaces of the entry zone are arranged in the extension of the bearing surfaces of the coupling zone according to an axis parallel to the axis of insertion, with the bearing surfaces of the coupling zone being opposite to the upper wall. a shaft defining an axis of insertion and a direction of insertion, having an end portion and a clamping portion situated to the rear of the end portion in the direction of insertion, a clamping collar comprising two arms (10, 11) arranged relative to one another in such a way as to delimit a cavity able to guide the shaft according to the axis of insertion in the direction of insertion into a position of engagement and to keep the shaft in position of engagement, with each arm (10, 11) comprising a hole (14, 15), and a clamping screw for clamping the arms (10, 11) onto the shaft in the position of engagement according to a set torque, the holes (14, 15) of each arm being aligned with one another in order to define with the clamping portion an axis of passage for the clamping screw perpendicular to the axis of insertion, the cavity comprising a coupling zone and an entry zone situated to the rear of the coupling zone in the direction of insertion, the entry zone being dimensioned in relation to the coupling zone in such a way as to prevent the clamping of the clamping screw according to the set torque when the end portion is situated in the entry zone, the coupling zone having lateral walls (40, 41), an upper wall for connecting the lateral walls (40, 41) in the shape of an arc of a circle corresponding to the shape of the upper surface of the end portion of the shaft, the entry zone has a section greater than that of the coupling zone, characterised in that the coupling zone and the entry zone have, in the lower portion, one or several bearing surfaces (101, 111) for the shaft, and in that the bearing surfaces of the entry zone are arranged in the extension of the bearing surfaces of the coupling zone according to an axis parallel to the axis of insertion, with the bearing surfaces of the coupling zone being opposite to the upper wall.