The joint comprises a tripod connected to one of the two shafts to be coupled by the joint and defining three trunnions on which three part-spherical rollers are mounted. A second member of the joint is connected to the other shaft and defines three raceways in which the rollers are received. The tripod constitutes a member which is distinct from the shaft associated with the tripod and is connected to this associated shaft by an auxiliary homokinetic coupling. The latter is capable of operating at an angle of displacement which is small relative to the maximum angle of displacement of the two shafts coupled by the joint.