A tripod type constant velocity universal joint includes an outer joint member having three track grooves each including roller guide surfaces opposing each other in a circumferential direction of each of the track grooves, a tripod member including three leg shafts, and roller units each including a roller and an inner ring to support the roller. An outer peripheral surface of the roller has a partially spherical surface having a curvature center on an axis of each of the leg shafts. The roller guide surfaces are each formed of a partially cylindrical surface having a curvature center on a horizontal line passing an intersection of a pitch circle of the track grooves and a center line of each of the track grooves, and when no torque is applied to the joint, an end portion of the outer peripheral surface of the roller abuts against the roller guide surfaces.