An exhaust gas recirculation valve having a cam structure for opening and closing a gas passage through which exhaust gas is recirculated to an intake manifold. The valve includes a valve housing having the gas passage, a valve unit linearly moving to selectively open and close the gas passage, a motor generating power to drive the valve unit, a valve actuator driving the valve unit to move linearly, and a power transmission transmitting the rotation force from the motor to the valve actuator. The valve actuator includes a power-transmission gear unit to transmit the rotation force from the motor, and the valve actuator includes an actuating gear unit to be rotated by being meshed with the power-transmission gear unit. The valve has a cam structure in which the power-transmission gear unit and the actuating gear unit are arranged in line with a direction of linear motion of the valve unit.