A polyaxial bone screw assembly includes a threaded shank body having an upper capture structure, a head and a closed retainer ring. The external capture structure surface and retainer ring internal bore surface are both threaded for rotatable attachment within a cavity of the head. The head has a U-shaped cradle defining a channel for receiving a spinal fixation rod. The head channel communicates with the cavity and further with a restrictive opening that allows for loading the capture structure into the head but prevents passage of the closed retainer ring out of the head. The retainer ring has an external substantially spherical surface that mates with an internal surface of the head, providing a ball joint, enabling the head to be disposed at an angle relative to the shank body. The threaded capture structure or the closed retainer structure includes a tool engagement formation and gripping surfaces for non-slip engagement by a tool for driving the shank body into bone.