A slip joint for a steering system may include a shaft having a plurality of shaft grooves formed on an outer peripheral surface in the longitudinal direction; a pipe having pipe grooves formed on an inner peripheral surface, the pipe grooves facing the shaft grooves so as to define cylindrical spaces, an end of the shaft being inserted into the pipe; a first pin inserted into one of the cylindrical spaces; a second spring pin inserted into a different one of the cylindrical spaces, the second spring pin being made of a cylindrical elastic body having a longitudinal seam; a third spring pin inserted into the second spring pin, the third spring pin being made of an elastic body; and a connector for integrally connecting the second spring pin to the first pin so as to constitute a slipper.