A steering apparatus includes a first shaft coupled to a steering wheel, a second shaft arranged to be eccentric relative to the first shaft, and a joint mechanism for coupling the first shaft and the second shaft to each other. The joint mechanism includes a cam having a cam groove that extends in a direction perpendicular to the first shaft, a cam follower that can slide in the cam groove, an eccentric pin for coupling the second shaft and the cam follower to each other at a position eccentric relative to the second shaft. An outer cylinder serving as a protective member is arranged concentrically with the eccentric pin, so as to surround the outer circumference of the eccentric pin. At least part of the eccentric pin and the outer cylinder is arranged in the cam groove.