A polyaxial bone anchoring device includes an anchoring element having a shank and a head having an outer surface portion shaped as a segment of a sphere, a receiving part having a seat portion for receiving the head, and a pressure element having a head contacting surface portion having at least two circumferentially distinct projections and defining a recess for holding the head, the recess having a first region configured to receive the head and a second region defined by at least part of one of the projections and having an undersize compared to the shape of the head, such that when the head is held in the recess, the projections extend over a portion of the head with the largest outer diameter, and the head contacting surface portion corresponding to the second region is expanded from a neutral position to clamp the head by friction.
