A bone anchoring device for securement to a bone. The device includes an anchor, a receiver, a retainer and an insert. The receiver includes a seating surface defining a cavity communicating with the exterior of the receiver through a first opening configured to receive the connection head of the anchor therethrough. The retainer includes at least two discrete retaining members configured to engage with the receiver seating surface when they are captured between the connection head and the seating surface. The insert is disposed within the receiver and configured to frictionally engage the connection head. The insert includes a main body and at least one pin protruding from the main body, for circumferential insertion between two adjacent retaining members of the retainer.