A steering apparatus comprising: a first shaft member configured to transfer a steering force; a second shaft member (19, 219, 319, 419, 519) configured to transfer the steering force by connecting to the first shaft member; a clamp portion (36, 236, 336, 436, 536) fitted to the vicinity of an end portion of the second shaft member (19, 219, 319, 419, 519) on the side of the first shaft member and formed with a slit (42, 242, 342, 442, 542) penetrating in an axial direction and a radial direction of the second shaft member (19, 219, 319, 419, 519); a couple of arm portions (38, 238, 338, 438, 538) protruding on the side of the first shaft member from an end portion of the clamp portion (36, 236, 336, 436, 536) and disposed facing each other; and a joint cross configuring a universal joint (17A, 17B) by connecting the couple of arm portions (38, 238, 338, 438, 538) to the opposite yoke fixed to the first shaft member; characterized by comprising: a guide member (48, 148, 248, 348, 448, 548, 648) including a cylindrical portion (52, 252, 352, 452, 552) fitted to an end portion of the second shaft member (19, 219, 319, 419, 519) and disposed between the couple of arm portions (38, 238, 338, 438, 538), and a slit engagement plate (54, 254, 354, 454, 554, 654) protruding outward in the radial direction from a portion, on the side of the second shaft member (19, 219, 319, 419, 519), of the cylindrical portion (52, 252, 352, 452, 552), extending to the second shaft member (19, 219, 319, 419, 519), and disposed within the slit (42, 242, 342, 442, 542); wherein the cylindrical portion (52, 252, 352, 452, 552) extends to a side of the first shaft member and is formed with a cavity on an inner side on the side of the first shaft member. a first shaft member configured to transfer a steering force; a second shaft member (19, 219, 319, 419, 519) configured to transfer the steering force by connecting to the first shaft member; a clamp portion (36, 236, 336, 436, 536) fitted to the vicinity of an end portion of the second shaft member (19, 219, 319, 419, 519) on the side of the first shaft member and formed with a slit (42, 242, 342, 442, 542) penetrating in an axial direction and a radial direction of the second shaft member (19, 219, 319, 419, 519); a couple of arm portions (38, 238, 338, 438, 538) protruding on the side of the first shaft member from an end portion of the clamp portion (36, 236, 336, 436, 536) and disposed facing each other; and a joint cross configuring a universal joint (17A, 17B) by connecting the couple of arm portions (38, 238, 338, 438, 538) to the opposite yoke fixed to the first shaft member; characterized by comprising: a guide member (48, 148, 248, 348, 448, 548, 648) including a cylindrical portion (52, 252, 352, 452, 552) fitted to an end portion of the second shaft member (19, 219, 319, 419, 519) and disposed between the couple of arm portions (38, 238, 338, 438, 538), and a slit engagement plate (54, 254, 354, 454, 554, 654) protruding outward in the radial direction from a portion, on the side of the second shaft member (19, 219, 319, 419, 519), of the cylindrical portion (52, 252, 352, 452, 552), extending to the second shaft member (19, 219, 319, 419, 519), and disposed within the slit (42, 242, 342, 442, 542); wherein the cylindrical portion (52, 252, 352, 452, 552) extends to a side of the first shaft member and is formed with a cavity on an inner side on the side of the first shaft member. a guide member (48, 148, 248, 348, 448, 548, 648) including a cylindrical portion (52, 252, 352, 452, 552) fitted to an end portion of the second shaft member (19, 219, 319, 419, 519) and disposed between the couple of arm portions (38, 238, 338, 438, 538), and a slit engagement plate (54, 254, 354, 454, 554, 654) protruding outward in the radial direction from a portion, on the side of the second shaft member (19, 219, 319, 419, 519), of the cylindrical portion (52, 252, 352, 452, 552), extending to the second shaft member (19, 219, 319, 419, 519), and disposed within the slit (42, 242, 342, 442, 542); wherein the cylindrical portion (52, 252, 352, 452, 552) extends to a side of the first shaft member and is formed with a cavity on an inner side on the side of the first shaft member.