A bone anchoring device is provided comprising a receiving part (1) for receiving a rod, the receiving part having a first bore (1) coaxial with a longitudinal axis (4) and a second bore (6), and an anchoring element having a first end (14) for insertion into the bone and a second end (15) positionable within a second bore (6), the anchoring element (13) being movable relative to the receiving part (1) in limited angular range about the longitudinal axis (4), the angles lying in a single plane (P) and a fixation element (30) cooperating with the receiving part (1) to lock the anchoring element (13) relative to the receiving part (1). The anchoring element (13) is pivotable relative to the receiving part (1) around one rotational axis transverse to the longitudinal axis (4).
