A tripod constant velocity universal joint including an outer joint member having axially extending track grooves formed at three circumferentially equispaced positions in the inner periphery. A tripod member having a trunnion barrel adapted to be fitted to a shaft for torque transmission and trunnion journals radially projecting from three circumferentially equispaced positions in the trunnion barrel. Rollers respectively attached to the trunnion journals for rotation through a plurality of needle rollers and received in the track grooves. Each roller is guided at its outer peripheral surface by roller guide surfaces formed in opposite lateral walls of the track groove. A skew angle of the needle rollers is controlled so that it is within a predetermined specified value.