A polyaxial bone anchoring device includes an anchoring element having a shank and a head, a receiving part for receiving the head of the bone anchoring element and a rod, the receiving part including an upper member with a top end and a bottom end, a central axis extending through the top end and the bottom end, a head receiving portion with a passage at the bottom end for introducing the head, and a channel for receiving the rod at the top end, a lower member having a passage and being connectable to the upper member from the bottom end of the upper member, wherein at least one clamping member at or near the bottom end of the upper member is configured to reduce the diameter of the passage of the head receiving portion when the lower member is connected to the upper member to hold the head.
