In a slide type universal joint mounted between two transmission shafts between which power is transmitted, to connect both the shafts in a pivotable manner, a plurality of axially extending transmission grooves are provided in an inner peripheral surface of a hollow cylindrical outer member connected to one of the transmission shafts, while radial trunnions are mounted on an inner member connected to the other transmission shaft to project into the corresponding transmission grooves of the outer member. An inner roller is slidably fitted on the outer periphery of the trunnion and in turn, a holder is fitted on the outer periphery of the inner roller for rotatable support of an outer roller which is rollable within the transmission grooves. A regulating mechanism is provided between the holder and the outer member for preventing inclination of the holder with respect to the transmission groove while permitting smooth rolling movement of the outer roller within the transmission groove.