The objective of the universal joint yoke is to form connection between transmission shaft and drive shafts, whose axis intersect and the rotation of one shaft about its own axis results in the rotation of the other shaft about its axis. In the present work design optimization of universal joint yoke and drive shaft using the ANSYS software is carried out. The model of universal joint yoke has been developed in Solid works and saved in parasolid x_t file, and then imported in ANSYS workbench. The model of drive shaft has been generated in ANSYS. Finite element analysis of a universal joint yoke and drive shaft has been carried out. In the present work the static and modal analysis of universal joint yoke and a drive shaft has been carried out. The results for equivalent von-mises stress, strain and deformation has been plotted and compared with the existing results. Modal analysis has been done to study the inherent frequencies and vibration mode shapes with their respective deformation.