A magnetoelastic torque sensor having an evaluation unit and at least three magnetic field sensors. The evaluation unit acquires at least one measurement signal of a first magnetic field sensor, at least one measurement signal of a second magnetic field sensor and at least one third measurement signal of a third magnetic field sensor of the magnetoelastic torque sensor, and to determine a torque exerted on the shaft using the at least one measurement signal of the first magnetic field sensor, the at least one measurement signal of the second magnetic field sensor, the at least one measurement signal of the fourth magnetic field sensor, and a ratio of a distance between the second magnetic field sensor and the third magnetic field sensor in an axial direction to a distance between the first magnetic field sensor and the second magnetic field sensor in the axial direction.