A rack-and-pinion steering system includes a pinion shaft having pinion teeth, a rack shaft on which rack teeth are formed which mesh with the pinion teeth; and a rack bush which supports the rack shaft slidably in an axial direction thereof. An outer circumferential surface of the rack shaft includes a first area which is a concave formed on an outer circumferential surface of the rack shaft and extending in the axial direction and a second area which is an area of the outer circumferential surface excluding the first area and lies adjacent to an end portion of the first area in the axial direction. The rack teeth are formed in the first area. A chamfered portion or a rounded portion is provided on a boundary between the end portion of the first area and the second area to chamfer or round a corner portion on the boundary.
