In a telescopic shaft for vehicle steering, assembled in a steering shaft of a vehicle and including a male shaft and a female shaft so fitted as to be mutually incapable of rotating but mutually slidable, at least one set of torque transmission members are disposed in at least one set of accommodating portions formed in an outer peripheral surface of the male shaft and in an inner peripheral surface of the female shaft, and at least the one set of torque transmission members are cylindrical members that gradually decrease in their diameters toward end portions in an axial direction.