A propeller shaft in a motor vehicle includes a plurality of shaft members and a plurality of joints operatively coupled between the shaft members, between the engine of the motor vehicle and one of the shaft members, and between a differential coupled to drive wheels and one of the shaft members. At least one of the joints comprises a slidable tripod joint. The tripod joint gives the propeller shaft a desired torque transmission capability and axial sliding displacements, and enables the propeller shaft to have a practically sufficient service life for high-speed rotation.