A polyaxial bone anchoring device includes an anchoring element having a shank and a head, a receiving part having a first end and a second end, a central axis, and an accommodation space for accommodating the head, the accommodation space having an opening at the second end, a sleeve-like insert piece configured to be arranged around a portion of the head and to be arranged in and to pivot in the accommodation space, and a pressure member including a portion configured to exert pressure onto the head, wherein the anchoring element and insert piece are pivotable with respect to the receiving part such that respective angles formed by a central axis of the insert piece with the central axis of the receiving part and a central axis of the anchoring element are adjustable, and can be locked by exerting pressure with the pressure member onto the head.
