The aim of this work is to develop a numerical application to strength and fatigue numerical analysis of jointed-telescopic Power Take-Off shaft. Exemplary results for equivalent of stress in whole shaft and in a part of stress concentration are shown. Presented chart of changing of the number of the correct cycles operation of the PTO shaft depending on the torsional angle allows to predict a shaft life. From numerical analyses of process it follows that the numerically tested system can withstand the load associated with the vibration phenomena and is properly designed. Furthermore, it was found that the shaft at the maximum rotational operating speeds, is working at frequencies under resonance.