The straw (11) filling device comprises a casing body having a cavity (43) in which the needle (9) of a nozzle (7) is placed. The needle is inserted into the straw tube (12) received in the cavity. The casing body is attached to a carriage separately from the needle. The cavity comprises a distal opening located on the distal end side of the needle, a proximal opening located on the proximal end side of the needle, and a longitudinal opening extending from the distal opening to the proximal opening, thus enabling placement and removal of the needle in and out of the cavity in a direction transverse to the direction of the needle and preventing an adult finger accessing the distal end of the needle. The machine comprises a device of this type and a conveyor (2) designed to keep the straw tube in a filling position during each cycle.