An encoder includes a carrier disc, a coded disc, a rotating shaft, a bearing, a bracket, a housing and a sensing assembly is disclosed. The coded disc is disposed on the carrier disc. The rotating shaft includes a first attaching portion and a second attaching portion, and the first attaching portion is partially penetrated through the carrier disc. The bearing includes a bearing inner surface and a bearing outer surface, and the bearing inner surface is connected with the second attaching portion. The bracket includes a bearing attaching portion and a bracket curved feature portion, and the bearing attaching portion is connected with the bearing outer surface. The housing includes a housing curved feature portion, which is connected with the bracket curved feature portion.