A rack and pinion steering device which comprises a pinion operatively connected to a steering shaft of a vehicle, a long rod-like rack operatively connected to a steering lever mechanism of wheels of the vehicle, said rack having a group of rack teeth meshed with said pinion, and a spring device in contact with the back of said rack on the side opposite said pinion to resiliently bias said rack against said pinion. Said group of rack teeth includes a first portion close to and a second portion away from a center of said rack lengthwise which portions are defined symmetrically on opposite sides of said center, and said both second portions have a reference pitch line which inclines so as to approach the axis of said rack as it is away from said first portion adjacent thereto, whereby said rack gives rise to a flexure displacement under bending pressure caused by said spring device in connection with the meshed position between the rack and the pinion on said group of rack teeth.