A device capable of pivotally and axially adjusting by a single operation a steering shaft having a steering wheel. The device includes fixed tilting brackets having descending portions positioned on both sides of a slidable inner cylinder connected to the steering shaft, and a raising/lowering bracket which is attached to the fixed brackets so as to pivotally adjust the steering shaft, and which can ascend and descend together with a steering column. The raising/lowering bracket is attached to the fixed tilting brackets by tightening a screw bar, whereas it can ascend and descend by loosening the screw bar. When the screw bar is tightened, a pressing piece supported by the screw bar pushes the slidable inner cylidner, thereby controlling the movement of the steering shaft in the axial direction of the shaft. On the other hand, when the screw bar is loosened, pressing force is released to permit the steering shaft to move in the axial direction.