A constant velocity joint includes: a hollow housing fixed to a first rotating shaft, an inner face of the housing including a plurality of guide grooves; and a tripod disposed at an end of a second rotating shaft, having a plurality of trunnions each positioned in a corresponding guide groove; and an inner roller mounted to each trunnion, an outer roller mounted on each inner roller. Each trunnion includes an a spherical surface in a circumferential area subjecting to the load, and a cylindrical protrusion protruded from the spherical surface of the trunnion, the cylindrical protrusion having an spherical contact surface at its distal end with a gap between the trunnion and the the respective inner roller, and the inner face of each inner roller includes a pair of guide grooves for receiving the cylindrical protrusions.