A polyaxial bone anchoring device includes a receiving part having a first end, an opposite second end, a channel at the first end, and an accommodation space at the second end for receiving a head of a bone anchoring element, and a pressure element configured to be positioned in the receiving part and to exert pressure on an inserted head, the pressure element including at least one flexible section. At least one of the receiving part or a free end of the flexible section of the pressure element has an inclined surface portion configured to engage the other one of the receiving part or the free end of the flexible section of the pressure element, such that a force directed towards the second end of the receiving part is exerted on the pressure element at the engagement to exert a pre-load on an inserted head of a bone anchoring element.
