A rotary hydraulic machine with radial pistons comprising: a rotating shaft (2); a cylinder-housing body (3), having a plurality of housing seatings (4) arranged radially at equal distances from the rotation axis (R) of the rotating shaft (2); a cylinder (5) housed in each of said plurality of housing seatings (4) and rotating relative to the same around an axis (C) concentric with said rotation axis (R) of the rotating shaft (2); a piston (6) slidable in each cylinder (5) and coupled to a crank (7) of the rotating shaft (2); a supply conduit (12), for each cylinder (5), provided with a seal (120) arranged to enable a sealed connection between the supply conduit (12) and the respective cylinder (5). Each seal (120) comprises: a first ring (121), arranged at an end of the supply conduit (12) and placed in contact with the cylinder (5); a second ring (122), concentric to the first ring (121) and interposed between the supply conduit (12) and the first ring (121), wherein the second ring (122) is coupled by interference with the first ring (121) and is inserted by interference into the supply conduit (12) in such a way as to prevent a rotation of the first ring (121) with respect to the supply conduit (12) around a common axis (X).