A cam follower is provided having a tappet that includes a cylindrical outer surface centered on a longitudinal axis and adapted to slide in a housing surrounding the tappet, a pin extending between two opposite ends along a transverse axis perpendicular to the longitudinal axis, a roller element movable in rotation relative to the pin around the transverse axis and adapted to roll on a cam, and lubrication channels for lubricating the pin and the roller. The cam follower further provides a support element mounted in the tappet and supporting the pin, and the lubrication channels include at least one pair of consecutive channels formed through the tappet and the support element. The invention also provides an injection pump and a valve actuator for a motor vehicle, each having such a cam follower. The invention finally provides a method for manufacturing such a cam follower.