Articulating restraint device. In an exemplary embodiment of an articulating restraint device of the present disclosure, the device comprises a clamp having two arms coupled to one another and defining opposing inner surfaces and having distal ends, at least two engagement portions, wherein at least one of the at least two engagement portions is coupled to each inner surface of each of the two arms and positioned so that when the distal ends of the clamp engage one another, the at least two engagement portions do not engage one another, and at least one articulating arm member, each articulating arm member being relatively cylindrical and defining a first end opening at a first end, an opposing second end opening at a second end, and a tapered central portion, whereby two adjacent articulating arm members can engage and reversibly couple to one another.