The invention relates to a hitching device including: a hitched frame (9) mounted onto a tool (3), such as an agricultural tool a hitching frame (8) mounted onto a hauling system (6, 7) of a vehicle (1), such as an agricultural tractor, provided with a power take-off (2) and transmission means comprising coupling members (50, 51) that are suitable for being moved between a released position and an engaged position and are mounted onto the frames (8, 9) such as to be translatable along a vertical axis (z) and freely rotatable about a so-called "transverse" axis (y). Moreover, a pre-positioning means is suitable for keeping, in the released position thereof, both coupling members (50, 51) in a predetermined position along the vertical axis (z) and for enabling, in the engaged position, the displacement of said coupling members, coupled along the vertical axis (z), and tilting of the latter about the transverse axis (y).
