A polyaxial bone anchoring device includes an anchoring element having a shaft and a head having a curved outer surface portion; a receiving part having a top end and a bottom end, a coaxial bore extending from the top end in the direction of the bottom end, and a seat portion for receiving the head at the bottom end; and a pressure element having a head contacting surface portion that contacts the curved outer surface portion of the head; wherein the head is pivotable with respect to the receiving part and can be fixed at an angle by exerting pressure via the pressure element, and wherein the head has an oversize in the curved outer surface portion with respect to the head contacting surface portion, such that an interference fit is achieved that clamps the head by the friction between the outer surface portion and the head contacting surface portion.