A polyaxial bone anchoring device is provided comprising an anchoring element (1) having a shank (2) for anchoring in the bone and a head (3), the head having a spherically-shaped outer surface portion (3 a) a receiving part (4) configured to be pivotably connected to the head (3), the receiving part (4) having a top end (4a) and a bottom end (4b), a central axis (C) extending through the top end and the bottom end, a transverse channel (52) for receiving a rod (100) and an accommodation space (44) for accommodating the head (3), the accommodation space (44) having a lower opening (45) at the bottom end (4b), a sleeve-like insert piece (5) having a sleeve axis (S) and configured to be positioned around a portion of the head (3) and to pivot in the receiving part (4), the insert piece (5) comprising a spherically-shaped outer surface portion characterized in that the sleeve-like insert piece (5, 5) comprises at least a first part (510, 510) and a second part (520, 520) that are connected together through a guiding structure (51) that permits the first part (510, 510) to move relative to the second part (520, 520) only in a direction transverse to the sleeve axis (S).
