The invention relates to an aircraft undercarriage including at least one axle having at least one wheel mounted to rotate thereon, the undercarriage including a communication device for connecting a sensor mounted on a rim of the wheel to stationary processor means mounted on the aircraft. According to the invention, the communication device comprises firstly an antenna secured to the sensor and thus rotating together with the wheel, and secondly a stationary antenna extending at the end of the axle and connected to the processor means, the two antennas being in radio communication through a cover of non-conductive material secured to the wheel and covering the end of the axle.