A universal joint including a joint cross having a bearing journal supported in a trunnion bearing having a bearing bushing and a seal assembly including a one-piece seal body sealing the journal cross against the bearing bushing, the seal body having a first lip configured to form a dynamic seal on the bearing bushing or on a U-shaped sleeve connected to the bearing bushing, a second lip configured to form a dynamic seal on the bearing bushing or on the sleeve, a first arm of the sleeve being press-fit in a cylindrical receiving surface of the bearing bushing, or the sleeve having a section that is rounded or doubly corrugated in radial section, or wherein between the seal body and rolling elements of the trunnion bearing a separate ring part is disposed and pressed towards the rolling elements by at least one elastic element projecting from the seal body.