There is disclosed a hydraulic actuating device for actuating a shift rod in particular of a gearbox for motor vehicles, which comprises a cylinder chamber provided in or on a gear housing for accommodating a shift piston which is actively connected to the shift rod and which divides the cylinder chamber into two working chambers which can selectively be acted upon by a pressure medium from a reservoir for the latter, said working chambers being separated from one another by means of a sealing arrangement arranged on the shift piston. The sealing arrangement is designed in a valve-like manner so that, when at least one working chamber is acted upon by pressure medium, it connects said working chamber to an auxiliary chamber which is delimited by the sealing arrangement and which in turn can be connected to the reservoir for the pressure medium. As a result, a cost-effective hydraulic actuating device is provided which is vented in a simple and efficient manner during operation from the working chambers via the auxiliary chamber to the reservoir.