A constant velocity joint, where the tilt angle of a first trunnion relative to a plane crossing perpendicularly to the axis of a second shaft is set to be different from the tilt angle of a second trunnion and the tilt angle of a third trunnion. The tilt angle of the second trunnion and the tilt angle of the third trunnion are set to be equal to or different from each other, and three axes of the first to third trunnions are set to be included on a same plane.