A universal joint is a connecting device of two hinges which can transmit torque from one shaft to another at fixed or at varying angles of intersection. It has been used properly not only as rotational but also as intermittent motion. For the particular kinematics condition of a universal joint, torsional and bending vibrations are produced excessively in an elastic driveline. In this paper only the torsional vibration behavior of a driveline with universal joints is analyzed numerically with the discrete model and a design method of the dynamic vibration damper is proposed, in order to reduce torsional vibrations especially in resonance region as a result of parametric variation.