A rack-and-pinion steering system for motor vehicles includes a rack, which is mounted in a housing such that it is longitudinally displaceable and kept in constant engagement with a pinion by a pressure piece, is connected at both ends to in each case one steering tie rod in an articulated manner, sealing bellows being fastened on one side to the housing and on the other side to the longitudinally displaceable steering rods. The steering system has a pressure compensation element integrated in the pressure piece.