A bone anchoring device includes an anchoring element having a shank to be anchored in a bone or a vertebra and a head, a connection element for connecting at least two anchoring elements, a receiving part having a first end receiving the head, wherein the head is pivotable in the receiving part, and a second end comprising a recess for receiving the connection element, a first pressure element which exerts pressure on the head to lock the head in the receiving part, and a second pressure element which exerts pressure on the connection element to press the connection element against the first pressure element. The contour of the surface of at least the first pressure element or the second pressure element facing the connection element deviates from the contour of the surface of the connection element.