In a device for sensing the position of a shift fork in a transmission, the shift fork is connected to a piston rod of a shifting piston which is guided axially in a shifting cylinder. The shift fork engages an axially slidable sliding sleeve, which slides on a transmission shaft, to engage or disengage a transmission stage. A magnet functioning as a signal generator is arranged on an actuating element, such as the switching piston, piston rod or shift fork. A 3D Hall sensor positionally fixed relative to the magnet functions as a signal receiver, sensing a magnetic field generated by the magnet. An electronic control unit connected to the 3D hall sensor determines the position of the shift fork from the relative positions of the magnet and 3D Hall sensor and transmits the position as a signal, taking into account linear, rotational, and/or pivoting movements of the actuating element.