A polyaxial bone anchoring device is provided including an anchoring element (1) having a shaft (2) for anchoring in the bone and a head (3), the head having a curved outer surface portion； a receiving part (5) having a top end (5a) and a bottom end (5b), a channel (12) for receiving a rod therein, a coaxial bore (51) extending from the top end (5a) in the direction of the bottom end (5b) and a seat portion (52) for receiving the head at the bottom end； a pressure element (6) arranged within the bore, the pressure element having a head contacting surface portion (62,63) that contacts the curved outer surface portion of the head； wherein the head is pivotable with respect to the receiving part and can be fixed at an angle by exerting pressure via the pressure element onto the head, and wherein the head has an oversize in the curved outer surface portion with respect to the head contacting surface portion such that an interference fit is achieved that clamps the head by the friction between the outer surface portion and the head contacting surface portion.
