A suspension for a tracked vehicle includes a bogie wheel assembly which has a pair of bogie wheels mounted to a walking beam. The walking beam is coupled to a body of the vehicle by a transversely-extending arm. The arm may be coupled to the body by a spherical bearing which permits angular rotation in at least two directions. The walking beam is connected to the body by shear members arranged in an inverted-V configuration. The shear members may be elastomeric springs.